caa a22 4500 606233172 CHVBK 20210128101230.0 cr unu---uuuuu 210128e20150101xx s 000 0 eng 10.1007/s10883-014-9222-y doi (NATIONALLICENCE)springer-10.1007/s10883-014-9222-y Lyapunov and Minimum-Time Path Planning for Drones [Elektronische Daten] [Thibault Maillot, Ugo Boscain, Jean-Paul Gauthier, Ulysse Serres] In this paper, we study the problem of controlling an unmanned aerial vehicle (UAV) to provide a target supervision and/or to provide convoy protection to ground vehicles. We first present a control strategy based upon a Lyapunov-LaSalle stabilization method to provide supervision of a stationary target. The UAV is expected to join a predesigned admissible circular trajectory around the target which is itself a fixed point in the space. Our strategy is presented for both high altitude long endurance (HALE) and medium altitude long endurance (MALE) types of UAVs. A UAV flying at a constant altitude (HALE type) is modeled as a Dubins vehicle (i.e., a planar vehicle with constrained turning radiusand constant forward velocity). For a UAV that might change its altitude (MALE type), we use the general kinematic model of a rigid body evolving in ℝ 3 $\mathbb {R}^{3}$ . Both control strategies presented are smooth, and unlike what is usually proposed in the literature, these strategies asymptotically track a circular trajectory of exact minimum turning radius. We also present the time-optimal control synthesis for tracking a circle by a Dubins vehicle. This optimal strategy is very rich, although much simpler than the point-to-point time-optimal strategy studied in the 1990s. Finally, we propose control strategies to provide supervision of a moving target, which are based upon theprevious ones. Springer Science+Business Media New York, 2014 Optimal control nationallicence Path planning nationallicence Aircraft navigation nationallicence Unmanned aerial vehicles nationallicence Rigid-body dynamics nationallicence Under-actuated systems nationallicence Nonlinear control nationallicence Trajectory tracking nationallicence Maillot Thibault Université de Toulon, LSIS, UMR CNRS 7296, B.P 20132, 83957, La Garde Cedex, France aut Boscain Ugo CNRS, Centre de Mathématiques Appliquées - Ecole Polytechnique (CMAP), UMR CNRS 7641, Route de Saclay, 91128, Palaiseau Cedex, France aut Gauthier Jean-Paul Université de Toulon, LSIS, UMR CNRS 7296, B.P 20132, 83957, La Garde Cedex, France aut Serres Ulysse Université Claude Bernard Lyon 1, LAGEP, UMR CNRS 5007, 43 bd du 11 novembre 1918, 69100, Villeurbanne, France aut Journal of Dynamical and Control Systems Springer US; http://www.springer-ny.com 21/1(2015-01-01), 47-80 1079-2724 21:1<47 2015 21 10883 https://doi.org/10.1007/s10883-014-9222-y text/html Onlinezugriff via DOI BK010053 XK010053 XK010000 Metadata rights reserved Springer special CC-BY-NC licence nationallicence 1 research-article jats NATIONALLICENCE NATIONALLICENCE NL-springer NATIONALLICENCE 856 40 https://doi.org/10.1007/s10883-014-9222-y text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Maillot Thibault Université de Toulon, LSIS, UMR CNRS 7296, B.P 20132, 83957, La Garde Cedex, France aut NATIONALLICENCE 700 1- Boscain Ugo CNRS, Centre de Mathématiques Appliquées - Ecole Polytechnique (CMAP), UMR CNRS 7641, Route de Saclay, 91128, Palaiseau Cedex, France aut NATIONALLICENCE 700 1- Gauthier Jean-Paul Université de Toulon, LSIS, UMR CNRS 7296, B.P 20132, 83957, La Garde Cedex, France aut NATIONALLICENCE 700 1- Serres Ulysse Université Claude Bernard Lyon 1, LAGEP, UMR CNRS 5007, 43 bd du 11 novembre 1918, 69100, Villeurbanne, France aut NATIONALLICENCE 773 0- Journal of Dynamical and Control Systems Springer US; http://www.springer-ny.com 21/1(2015-01-01), 47-80 1079-2724 21:1<47 2015 21 10883