Linear Tracking for a Fixed-Wing UAV Using Nonlinear Model Predictive Control
| Autor: | J.K. Hedrick, Yeonsik Kang |
|---|---|
| Rok vydání: | 2009 |
| Předmět: |
Engineering
business.industry Hardware-in-the-loop simulation ComputerApplications_COMPUTERSINOTHERSYSTEMS Control engineering Nonlinear control Optimal control law.invention Vehicle dynamics Model predictive control Control and Systems Engineering Control theory law Control system Autopilot Electrical and Electronic Engineering business |
| Zdroj: | IEEE Transactions on Control Systems Technology. 17:1202-1210 |
| ISSN: | 1558-0865 1063-6536 |
| DOI: | 10.1109/tcst.2008.2004878 |
| Popis: | In this paper, a nonlinear model predictive control (NMPC) is used to design a high-level controller for a fixed-wing unmanned aerial vehicle (UAV). Given the kinematic model of the UAV dynamics, which is used as a model of the UAV with low-level autopilot avionics, the control objective of the NMPC is determined to track a desired line. After the error dynamics are derived, the problem of tracking a desired line is transformed into a problem of regulating the error from the desired line. A stability analysis follows to provide the conditions that can assure the closed-loop stability of the designed high-level NMPC. Furthermore, the control objective is extended to track adjoined multiple line segments. The simulation results demonstrate that the UAV controlled by the NMPC converged rapidly with a small overshoot. The performance of the NMPC was also verified through realistic ?hardware in the loop simulation.? |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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