Receding horizon flight control for trajectory tracking of autonomous aerial vehicles

Ionela Prodan; Sorin Olaru; Ricardo Bencatel; Joao Borges de Sousa; Cristina Stoica; Silviu-Iulian Niculescu

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}

1 E3S - Supélec Sciences des Systèmes [Gif-sur-Yvette]

2 DEEC - Department of Electrical and Computer Engineering [Porto]

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).

Document type :

Journal articles

Domain :

Engineering Sciences [physics] / Automatic

Complete list of metadatas

https://hal-supelec.archives-ouvertes.fr/hal-00876457
Contributor : Josiane Dartron <>
Submitted on : Thursday, October 24, 2013 - 3:45:36 PM
Last modification on : Monday, June 10, 2019 - 6:04:16 PM

Receding horizon flight control for trajectory tracking of autonomous aerial vehicles

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Receding horizon flight control for trajectory tracking of autonomous aerial vehicles

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