Internal model-based control for loitering maneuvers of UAVs

被引：0

作者：

Casadei, G. ^{[1
]}

Furieri, L. ^{[1
]}

Mimmo, N. ^{[1
]}

Naldi, R. ^{[1
]}

Marconi, L. ^{[1
]}

机构：

[1] Univ Bologna, CASY DEI, Bologna, Italy

来源：

2016 EUROPEAN CONTROL CONFERENCE (ECC) | 2016年

关键词：

TRAJECTORY TRACKING CONTROL; PURSUIT-EVASION GAMES;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper we present a modular control architecture for unmanned aerial vehicles. Given a stabilizing control law, we aim to improve the performances of the vehicle by means of an internal model regulator. To simplify the design procedure, which especially in the nonlinear case might be fairly complicated, we show how it is possible to compose the separate control modules (stabilization and internal model) in an easy and reliable structure. The proposed technique will be tested on the loitering benchmark: in other words, the UAV is required to follow a target and perform a dynamic trajectory around it.

引用

页码：672 / 677

页数：6

共 50 条

[1] Coordination and control of multiple UAVs with timing constraints and loitering
Alighanbari, M
Kuwata, Y
How, JP
[J]. PROCEEDINGS OF THE 2003 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 2003, : 5311 - 5316
[2] Internal model-based control for integrating processes
Chia, Tien-Li
Lefkowitz, Irving
[J]. ISA TRANSACTIONS, 2010, 49 (04) : 519 - 527
[3] Physical Model-based Internal Model Control of a DE Actuator
Sarban, Rahimullah
Jones, Richard W.
[J]. ELECTROACTIVE POLYMER ACTUATORS AND DEVICES (EAPAD) 2011, 2011, 7976
[4] Model-Based Local Path Planning for UAVs
Tanja Hebecker
Robert Buchholz
Frank Ortmeier
[J]. Journal of Intelligent & Robotic Systems, 2015, 78 : 127 - 142
[5] Model-Based Local Path Planning for UAVs
Hebecker, Tanja
Buchholz, Robert
Ortmeier, Frank
[J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2015, 78 (01) : 127 - 142
[6] Tensor Product Model-based Control Design with Relaxed Stability Conditions for Perching Maneuvers
Kan, Yingying
Hel, Zhen
Zhao, Jing
[J]. ACTA POLYTECHNICA HUNGARICA, 2018, 15 (03) : 45 - 61
[7] Model-based current control of AC machines using the internal model control method
Harnefors, L
Nee, HP
[J]. IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, 1998, 34 (01) : 133 - 141
[8] Internal Model-Based Voltage Control of a Standalone Distributed Generator
Yazdanian, Mehrdad
Mehrizi-Sani, Ali
[J]. 2018 IEEE POWER & ENERGY SOCIETY GENERAL MEETING (PESGM), 2018,
[9] Model-based torsional vibration control of internal combustion engines
Ostman, F.
Toivonen, H. T.
[J]. IET CONTROL THEORY AND APPLICATIONS, 2008, 2 (11): : 1024 - 1032
[10] A Scalable Model-Based Learning Algorithm With Application to UAVs
Liang, Xiao
Zheng, Minghui
Zhang, Fu
[J]. IEEE CONTROL SYSTEMS LETTERS, 2018, 2 (04): : 839 - 844

← 1 2 3 4 5 →