Title :
Encirclement of moving target using linear model predictive control via feedback linearization
Author :
Hafez, A.T. ; Iskandarani, M. ; Givigi, Sidney N. ; Yousefi, Siamak ; Noureldin, Aboelmagd ; Beaulieu, A.
Author_Institution :
Dept. of Electr. & Comput. Eng., Queens Univ., Kingston, ON, Canada
Abstract :
A team of Unmanned Aerial Vehicles (UAVs) is used for the dynamic encirclement of a moving target in simulation. The encirclement tactic is defined for the situation in which a target is isolated and surrounded by a group of UAVs. It may be employed by a team of UAVs to neutralize the target and restrict its movement. A combination of decentralized Linear Model Predictive Control (LMPC) and Feedback Linearization (FL) is implemented on the team of UAVs in order to accomplish dynamic encirclement around a moving target. The main contribution of this paper lays in the application of LMPC and FL to solve the problem of encirclement of a moving target using an autonomous team of UAVs in simulation.
Keywords :
autonomous aerial vehicles; decentralised control; feedback; linear systems; linearisation techniques; military systems; motion control; predictive control; LMPC; UAV; decentralized control; dynamic encirclement; encirclement tactic; feedback linearization; linear model predictive control; moving target encirclement; unmanned aerial vehicle; Angular velocity; Equations; Mathematical model; Nonlinear dynamical systems; Vectors; Vehicle dynamics; Vehicles; Cooperative Robotics; Feedback Linearization; Linear Model Predictive Control; Unmanned Aerial Vehicles;
Conference_Titel :
Systems, Man and Cybernetics (SMC), 2014 IEEE International Conference on
Conference_Location :
San Diego, CA
DOI :
10.1109/SMC.2014.6974400
