.png){kind=icon}
.png){kind=icon}
Return
Robust longitudinal-lateral look-ahead pursuit path-following control: Fast finite-time stability and optimal robustness guarantee
.png){kind=icon}
PRE
AI
Z
R
H
S
Z
DOI：10.1016/j.isatra.2026.04.039.png)
.png){kind=icon}
Original request for help.png){kind=icon}
Share.png){kind=icon}
Save
Abstract
En 中文
• Propose innovative robustness metrics based on the global disturbed attractor, quantifying both the exponential convergence rate and the range of the ultimate attractor set, which establishes a foundation for robust path-following analysis. • Develop a Robust Longitudinal-Lateral Look-Ahead Pursuit (RLLP) guidance law and its optimized version (Optimal-RLLP) for fixed-wing UAVs, ensuring fast finite-time stability and reduced sensitivity to constrained uncertainties by accounting for flight path/track angles under external disturbances. • Overcome limitations of traditional methods (e.g., poor robustness to bounded disturbances, inability to handle non-smooth paths) to enable reliable 3D path-following in complex low-altitude environments (mountainous/urban terrains, wind disturbances). • Validate RLLP’s performance via a high-fidelity platform integrating realistic UAV dynamic/aerodynamic models, atmospheric disturbances, and low-altitude urban scenarios, while providing parameter adjustment principles for practical deployment.
Keywords:
Robust path-following
Finite-time stability
Attractor set
UAV guidance law
Optimal robustness
Journal
IF:
6.5
Papers:
5.9K
Citations:
2.0W
Organization
Cited Papers