The paper focuses on the control of a small fixed-wing unmanned aerial vehicle (UAV) along trajectories. The trajectories are generated in real-time from a library of pre-specified motion primitives. Two concatenated primitive trajectories are considered: one formed from seven primitives and exhibiting a figure-8 geometric path and another composed of a Split-S maneuver that settles into a level-turn trim trajectory. Switched control systems stemming from l2-induced norm synthesis approaches are designed for discrete-time linearized models of the nonlinear UAV system. These controllers are analyzed based on simulations in a realistic operational environment and are further implemented on the physical UAV.


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    Title :

    Optimal control of a small fixed-wing UAV about concatenated trajectories


    Contributors:

    Published in:

    Publication date :

    2015


    Size :

    20 Seiten, 42 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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