Typically, complex large-scale systems such as unmanned aerial vehicles are required to operate in a finite number of operational modes that necessitate robust, stable and smooth transitions between them. In this work, an on-line adaptation scheme is proposed for adapting the parameters of mode transition controllers designed off-line via the method of blending local mode controllers. The adaptive mode transition control algorithm is enabled via a software architecture that accommodates functionalities such as dynamic reconfigurability, plug and play extensibility, interoperability and openness. Through its reconfiguration management, virtual resource network and real-time distributed computing, it allows the UAV to execute agile and extreme performance maneuvers.
Software-enabled adaptive mode transition control for autonomous unmanned vehicles
19th DASC. 19th Digital Avionics Systems Conference. Proceedings (Cat. No.00CH37126) ; 1 ; 1E1/1-1E1/8 vol.1
2000-01-01
654457 byte
Conference paper
Electronic Resource
English
Software-Enabled Adaptive Mode Transition Control for Autonomous Unmanned Vehicles
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