Receding horizon flight control for trajectory tracking of autonomous aerial vehicles
Ionela Prodan,Sorin Olaru,Ricardo Bencatel,João Borges de Sousa,Cristina Stoica,Silviu-Iulian Niculescu +5 more
TLDR
In this paper, a predictive control strategy for UAVs in the presence of bounded disturbances is proposed to prove the feasibility of such a real-time optimization-based control design and demonstrate its tracking capabilities for the nonlinear dynamics with respect to a reference trajectory.About:
This article is published in Control Engineering Practice.The article was published on 2013-10-01 and is currently open access. It has received 63 citations till now. The article focuses on the topics: Model predictive control & Trajectory.read more
Citations
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Sense and avoid technologies with applications to unmanned aircraft systems: Review and prospects
Xiang Yu,Youmin Zhang +1 more
TL;DR: An overview on the recent progress in S &A technologies in the sequence of fundamental functions/components of S&A in sensing techniques, decision making, path planning, and path following is presented.
Posted Content
Data-Enabled Predictive Control: In the Shallows of the DeePC
TL;DR: The DeePC algorithm is shown to be equivalent to the classical and widely adopted Model Predictive Control (MPC) algorithm in the case of deterministic linear time-invariant systems and regularizations to the Dee PC algorithm are proposed.
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Three-Dimensional Nonlinear Differential Geometric Path-Following Guidance Law
TL;DR: In this article, a three-dimensional nonlinear guidance law for path-following is proposed using differential geometry of space curves, which makes a vehicle converge to and then follow a given desired path of general shape.
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An iterative model predictive control algorithm for UAV guidance
TL;DR: A novel aircraft path-following guidance algorithm based on model predictive control and an iterative scheme to solve the associated nonlinear optimization problem, using as a feasible hotstart the guidance solution provided by a well-behaved L1 navigation law.
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Online optimisation-based backstepping control design with application to quadrotor
TL;DR: In this article, the authors combine online optimization with backstepping design in an outer and inner loop manner to transform the optimal control problem into a computationally efficient form, which can also be used to realize local motion planning for obstacle avoidance.
References
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Trajectory-Tracking and Path-Following of Underactuated Autonomous Vehicles With Parametric Modeling Uncertainty
TL;DR: It is demonstrated how adaptive switching supervisory control can be combined with a nonlinear Lyapunov-based tracking control law to solve the problem of global boundedness and convergence of the position tracking error to a neighborhood of the origin that can be made arbitrarily small.
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Brief Equivalence of hybrid dynamical models
TL;DR: Equivalences among five classes of hybrid systems are established, of paramount importance for transferring theoretical properties and tools from one class to another, with the consequence that for the study of a particular hybrid system that belongs to any of these classes, one can choose the most convenient hybrid modeling framework.
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Dynamics and control of a class of underactuated mechanical systems
TL;DR: A theoretical framework for the dynamics and control of underactuated mechanical systems, defined as systems with fewer inputs than degrees of freedom, is presented and controlability and stabilizability results are derived.