Liu, YuyiLongo, StefanoKerrigan, Eric C.2016-10-262016-10-262013-07-22Liu, 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, Switzerlandhttps://dspace.lib.cranfield.ac.uk/handle/1826/10883We 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(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 worksConference paper