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

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2023

Autores

Nguyen, HT (Autor) Outra; Prodan, I (Autor) Outra; Fontes, Fernando A C C (Autor) FEUP

Ata de Conferência Internacional

Título: 2023 EUROPEAN CONTROL CONFERENCE, ECC

Páginas: 1-7

European Control Conference (ECC)

Bucharest, ROMANIA, JUN 13-16, 2023

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 2 Citações

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 7