Ineverse dynamics approach for real-time determination of feasible aircraft reference trajectories Conference Paper uri icon


  • © 1999 by A. Verma and J.L. Junkins. In this paper, we investigate an approach to design a trajectory in real time for executing a specified maneuver by an Uninhabited Aerial Vehicle, or UAV. The issues involve a proper representation of a trajectory, the choice of coordinates, and then determining control requirements for the trajectory. Further, there are issues about the feasibility of the trajectory with respect to the available control power and airframe capability. In our method, first a trajectory is generated, a part of which is defined by basis functions. Then Inverse Dynamics approach is used to determine the demand on actuators. In conventional aircraft, using Inverse Dynamics for aircraft trajectory becomes trickier due to the lesser number of actuators (four) then the degrees of freedom of aircraft motion (six). In this paper we show that using pseudo controls, and then minimizing the pseudo control requirement with respect to the trajectory parameters (the coefficients of basis functions), we can overcome the problems of under actuated system and a feasible or near feasible trajectory can be obtained. This method can also be used to generate trajectories for aggressive maneuvers, where the trajectories are very close to the infeasible region due to the saturation of controls or aircraft reaching its maximum capabilities.

author list (cited authors)

  • Verma, A., & Junkins, J. L.

publication date

  • January 1999