Receding horizon flight control for trajectory tracking of autonomous aerial vehicles

• Tipo: Artigo em Revista Científica Internacional
• Data: 2013-10

Autores

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

Revista

Título: Control Engineering Practice

Vol. 21

Páginas: 1334-1349

ISSN: 0967-0661

Editora: Elsevier

Indexação

ISI Web of Knowledge - 32 Citações

Scopus - 46 Citações

Outras Informações

ID Authenticus: 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).

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 16