Adaptive path following control for miniature unmanned aerial vehicle confined to three-dimensional Dubins path: From take-off to landing

This study proposes a method for resolving the challenge of controlling miniature fixed-wing unmanned aerial vehicles (MAVs) along a predetermined three-dimensional (3D) Dubins path while using models with uncertainty and when experiencing external wind disturbances. We provide a multilayered structure that incorporates both guiding and control at the same time. In the guidance layer, a modified vector-field-based approach is presented to enable the MAV to follow a 3D Dubins path, including the takeoff, cruise, and landing processes with three different types of route segments. Then, an adaptive sliding model controller is used for the analysis and man-agement of both wind disturbances and system uncertainties. Finally, both simulated scenarios and in-flight trials demonstrate the applicability of the methodology and the efficiency of the proposed approach.