Receding horizon flight control for trajectory tracking of autonomous aerial vehicles

Ionela Prodan 1 Sorin Olaru 1 Ricardo Bencatel 2 Joao Borges de Sousa 2 Cristina Stoica 1 Silviu-Iulian Niculescu 3, 4
3 DISCO - Dynamical Interconnected Systems in COmplex Environments
L2S - Laboratoire des signaux et systèmes, Inria Saclay - Ile de France, SUPELEC, CNRS - Centre National de la Recherche Scientifique : UMR8506
4 Division Systèmes - L2S
L2S - Laboratoire des signaux et systèmes : 1289
Abstract : This paper addresses the implementation of a predictive control strategy for Unmanned Air Vehicles in the presence of bounded disturbances. The goal is to prove the feasibility of such a real-time optimization-based control design and to demonstrate its tracking capabilities for the nonlinear dynamics with respect to a reference trajectory which is pre-specified via differential flatness. In order to benefit from the computational advantages of the linear predictive control formulations, an off-line linearization strategy of the nonlinear model of the vehicle along the flat trajectory is employed. The proposed method exhibits effective performance validated through software-in-the-loop simulations and real flight tests on different Unmanned Aerial Vehicles (UAVs).
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Submitted on : Thursday, October 24, 2013 - 3:45:36 PM
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Ionela Prodan, Sorin Olaru, Ricardo Bencatel, Joao Borges de Sousa, Cristina Stoica, et al.. Receding horizon flight control for trajectory tracking of autonomous aerial vehicles. Control Engineering Practice, Elsevier, 2013, 21 (10), pp.1334-1349. ⟨10.1016/j.conengprac.2013.05.010⟩. ⟨hal-00876457⟩



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