Nonlinear predictive control of autonomous soaring UAVs using 3DOF models

Liu, Yuyi; Longo, Stefano; Kerrigan, Eric C.

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dc.contributor.author	Liu, Yuyi
dc.contributor.author	Longo, Stefano
dc.contributor.author	Kerrigan, Eric C.
dc.date.accessioned	2016-10-26T16:14:07Z
dc.date.available	2016-10-26T16:14:07Z
dc.date.issued	2013-07-22
dc.identifier.citation	Liu, Y., Longo, S., Kerrigan, E. C. (2013) Nonlinear predictive control of autonomous soaring UAVs using 3DOF models, European Control Conference 2013 (ECC'13), 16-19 July 2013, Zurich, Switzerland	en_UK
dc.identifier.uri	https://dspace.lib.cranfield.ac.uk/handle/1826/10883
dc.description.abstract	We design a nonlinear model predictive control (NMPC) system for a soaring UAV in order to harvest the energy from the atmospheric updrafts. Our control framework combines an online estimation with a heuristic search method to obtain the UAV optimal trajectory. To allow for real-time computation of the control commands we solve the optimal control problem using a 3 degrees-of-freedom (DOF) model but apply the inputs to a more realistic 6DOF model. Hence, we design a 3DOF-6DOF model interaction strategy. Simulations show how the control system succeeds in energy extraction in a challenging dynamic atmospheric environment while satisfying its real-time contraints.	en_UK
dc.language.iso	en	en_UK
dc.publisher	Institute of Electrical and Electronics Engineers	en_UK
dc.rights	(c) 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works	en_UK
dc.title	Nonlinear predictive control of autonomous soaring UAVs using 3DOF models	en_UK
dc.type	Conference paper	en_UK