Journal
CONTROL ENGINEERING PRACTICE
Volume 40, Issue -, Pages 113-132Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2015.03.007
Keywords
Unmanned aerial vehicles; Small fixed-wing aircraft; Optimal l(2)-induced norm control; Switched control systems; Tracking along trajectories
Funding
- National Science Foundation [CMMI-1333785]
- Directorate For Engineering
- Div Of Civil, Mechanical, & Manufact Inn [1333785] Funding Source: National Science Foundation
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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 l(2)-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. (C) 2015 Elsevier Ltd. All rights reserved.
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