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

fYear

2014

fDate

5-8 Oct. 2014

Firstpage

3078

Lastpage

3083

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics (SMC), 2014 IEEE International Conference on

Conference_Location

San Diego, CA

Type

conf

DOI

10.1109/SMC.2014.6974400

Filename

6974400