Trajectory Optimization and NMPC Tracking for a Fixed-Wing UAV in Deep Stall with Perch Landing

• Type: Article in International Conference Proceedings Book
• Date: 2023

Authors

Nguyen, HT (Author) Other; Prodan, I (Author) Other; Fontes, Fernando A C C (Author) FEUP

Conference proceedings International

Title: 2023 EUROPEAN CONTROL CONFERENCE, ECC

Pages: 1-7

European Control Conference (ECC)

Bucharest, ROMANIA, JUN 13-16, 2023

Indexing

ISI Web of Knowledge - 0 Citations

Scopus - 2 Citations

Other information

Authenticus ID: P-00Y-V2H

DOI: 10.23919/ecc57647.2023.10178188

Abstract (EN): This paper presents a novel recovery technique for a fixed-wing UAV (Unmanned Aerial Vehicle) based on constrained optimization: i) we propose a trajectory generation for landing the UAV where it first reduces its altitude by deep stalling, then perches on a recovery net, ii) we design an NMPC (Nonlinear Model Predictive Control) tracking controller with terminal constraints for the optimal generated trajectory under disturbances. Compared to nominal net recovery procedures, this technique greatly reduces the landing time and the final airspeed of the UAV. Simulation results for various wind conditions demonstrate the feasibility of the idea.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 7