Robust integrated lateral guidance and control of UAVs

In this paper, a novel guidance scheme is presented for UAVs using the Integrated Guidance and Control (IGC) framework. The proposed guidance scheme is derived using H∞ Loop Shaping Design Procedure (LSDP). To recover from an initial cross track error, the proposed guidance algorithm produces such aileron commands that ensure the roll maneuvers without saturating the roll angle. The shaping of the open loop plant is carried out using the pre and post weights and then the robust stabilization is done by using the normalized left coprime factor uncertainty. The performance and robustness of the system are verified by introducing parametric uncertainties in to the system model. The results of the proposed scheme are verified by implementing it on a complete 6-DOF nonlinear model in the presence of wind disturbance. The simulation results indicate the effectiveness and robustness of the proposed guidance algorithm.