Predictive control for autonomous aerial vehicles trajectory tracking

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2012-08

Autores

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

Ata de Conferência Internacional

Título: IFAC Proceedings Volumes (IFAC-PapersOnline)

Páginas: 508-513

4th IFAC Conference on Nonlinear Model Predictive Control, NMPC'12

Noordwijkerhout, 23 August 2012 through 27 August 2012

Indexação

Scopus - 3 Citações

Outras Informações

ID Authenticus: P-008-6G2

DOI: 10.3182/20120823-5-nl-3013.00078

Abstract (EN): This paper addresses a predictive control strategy for Unmanned Air Vehicles in the presence of bounded disturbances. The goal is to guarantee tracking capabilities with respect to a reference trajectory which is pre-specified using the differential flatness formalism. Furthermore, an off-line linearization strategy of the nonlinear model of the vehicle along the at trajectory is proposed. Since the reference trajectory is available beforehand, an optimization problem which minimizes the tracking error for the vehicle is formulated in a predictive control framework. The proposed method exhibits effective performance validated through software-in-the-loop simulations for the control of Unmanned Aerial Vehicles (UAVs). © 2012 IFAC.

Idioma: Inglês

Tipo (Avaliação Docente): Científica