Discrete event control of an unmanned aircraft

This paper describes the application of a limited-lookahead discrete event supervisory controller that handles the control aspects of the unmanned aerial vehicle (UAV) ldquosense and avoidrdquo (SAA) problem. The controlled UAV and the approaching uncontrolled intruding aircraft that must be avoided are treated as a hybrid system. The UAV control decision making process is discrete, while the embedded flight model dynamics of the aircraft are continuous. Simulation results for the controlled system are presented for a variety of flight scenarios.