Nonlinear predictive control of autonomous soaring UAVs using 3DOF models
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2013-07-22
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Institute of Electrical and Electronics Engineers
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Conference paper
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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
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.
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