Receding horizon flight control for trajectory tracking of autonomous aerial vehicles

• Type: Article in International Scientific Journal
• Date: 2013-10

Authors

I. Prodan (Author) Other; S. Olaru (Author) Other; R. A. G. Bencatel (Author) FEUP; João Tasso Sousa (Author) FEUP; Cristina Stoica (Author) Other; Silviu-Iulian Niculescu (Author) Other

Journal

Title: Control Engineering Practice

Vol. 21

Pages: 1334-1349

ISSN: 0967-0661

Publisher: Elsevier

Indexing

ISI Web of Knowledge - 32 Citations

Scopus - 46 Citations

Other information

Authenticus ID: P-006-747

DOI: 10.1016/j.conengprac.2013.05.010

Abstract (EN): This paper addresses the implementation of a predictive control strategy for Unmanned Air Vehicles in the presence of bounded disturbances. The goal is to prove the feasibility of such a real-time optimization-based control design and to demonstrate its tracking capabilities for the nonlinear dynamics with respect to a reference trajectory which is pre-specified via differential flatness. In order to benefit from the computational advantages of the linear predictive control formulations, an off-line linearization strategy of the nonlinear model of the vehicle along the flat trajectory is employed. The proposed method exhibits effective performance validated through software-in-the-loop simulations and real flight tests on different Unmanned Aerial Vehicles (UAVs).

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 16