A Predictive Path-Following Approach for Fixed-Wing Unmanned Aerial Vehicles in Presence of Wind Disturbances

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2016

Autores

Rucco, A (Autor) Outra; Aguiar, AP (Autor) FEUP; Fernando Lobo Pereira (Autor) FEUP; João Tasso Sousa (Autor) FEUP

Ata de Conferência Internacional

Título: ROBOT 2015: SECOND IBERIAN ROBOTICS CONFERENCE: ADVANCES IN ROBOTICS, VOL 1

Páginas: 623-634

2nd Iberian Robotics Conference (ROBOT)

Lisbon, PORTUGAL, NOV 19-21, 2015

Indexação

ISI Web of Knowledge - 11 Citações

Scopus - 16 Citações

Outras Informações

ID Authenticus: P-00K-29Y

DOI: 10.1007/978-3-319-27146-0_48

Abstract (EN): In this paper we address the path-following problem for fixed-wing Unmanned Aerial Vehicles (UAVs) in presence of wind disturbances. Given a desired path with a specified airspeed profile assigned on it, the goal is to follow the desired maneuver while minimizing the control effort. We propose a predictive path following control scheme based on trajectory optimization techniques, to compute feasible UAV trajectories, combined with a sample-data Model Predictive Control (MPC) approach, to handle the wind field. By explicitly addressing the wind field, the UAV exploits the surrounding environment thus extending its capabilities in executing the desired maneuver. We provide numerical computations based on straight line and circular paths under various wind conditions. The computations allow us to highlight the benefits of the proposed control scheme.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 12