Nonlinear predictive control of autonomous soaring UAVs using 3DOF models

Simple item page
dc.contributor.authorLiu, Yuyi
dc.contributor.authorLongo, Stefano
dc.contributor.authorKerrigan, Eric C.
dc.date.accessioned2016-10-26T16:14:07Z
dc.date.available2016-10-26T16:14:07Z
dc.date.issued2013-07-22
dc.description.abstractWe design a nonlinear model predictive control (NMPC) system for a soaring UAV in order to harvest the energy from the atmospheric updrafts. Our control framework combines an online estimation with a heuristic search method to obtain the UAV optimal trajectory. To allow for real-time computation of the control commands we solve the optimal control problem using a 3 degrees-of-freedom (DOF) model but apply the inputs to a more realistic 6DOF model. Hence, we design a 3DOF-6DOF model interaction strategy. Simulations show how the control system succeeds in energy extraction in a challenging dynamic atmospheric environment while satisfying its real-time contraints.en_UK
dc.identifier.citationLiu, Y., Longo, S., Kerrigan, E. C. (2013) Nonlinear predictive control of autonomous soaring UAVs using 3DOF models, European Control Conference 2013 (ECC'13), 16-19 July 2013, Zurich, Switzerlanden_UK
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/10883
dc.language.isoenen_UK
dc.publisherInstitute of Electrical and Electronics Engineersen_UK
dc.rights(c) 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other worksen_UK
dc.titleNonlinear predictive control of autonomous soaring UAVs using 3DOF modelsen_UK
dc.typeConference paperen_UK

Files

Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
Nonlinear_predictive_control_of_autonomous_soaring_UAVs-2013.pdf
Size:
519.18 KB
Format:
Adobe Portable Document Format
Download
License bundle
Now showing 1 - 1 of 1
No Thumbnail Available
Name:
license.txt
Size:
1.79 KB
Format:
Item-specific license agreed upon to submission
Description:
Download

Collections

Staff publications (SATM)