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Journal articles
Receding horizon flight control for trajectory tracking of autonomous aerial vehicles
Abstract : This paper addresses the implementation of a predictive control strategy for Un-manned 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).
Cited literature [46 references]
https://hal-supelec.archives-ouvertes.fr/hal-00876457
Contributor : Josiane Dartron <>
Submitted on : Monday, March 16, 2020 - 3:59:56 PM
Last modification on : Wednesday, September 16, 2020 - 5:35:56 PM
Long-term archiving on: : Wednesday, June 17, 2020 - 3:11:05 PM
Contributor : Josiane Dartron <>
Submitted on : Monday, March 16, 2020 - 3:59:56 PM
Last modification on : Wednesday, September 16, 2020 - 5:35:56 PM
Long-term archiving on: : Wednesday, June 17, 2020 - 3:11:05 PM
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UAV_2.07.2013.pdf
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