Title :
Nonlinear predictive control of autonomous soaring UAVs using 3DOF models
Author :
Yuyi Liu ; Longo, Stefano ; Kerrigan, Eric C.
Author_Institution :
Dept. of Aeronaut., Imperial Coll. London, London, UK
Abstract :
We design a nonlinear model predictive control (NMPC) system for a soaring UAV in order to harvest the energy from the atmospheric updrafts. Our control framework combines an online estimation with a heuristic search method to obtain the UAV optimal trajectory. To allow for real-time computation of the control commands we solve the optimal control problem using a 3 degrees-of-freedom (DOF) model but apply the inputs to a more realistic 6DOF model. Hence, we design a 3DOF-6DOF model interaction strategy. Simulations show how the control system succeeds in energy extraction in a challenging dynamic atmospheric environment while satisfying its real-time contraints.
Keywords :
autonomous aerial vehicles; energy harvesting; nonlinear control systems; predictive control; 3 degrees-of-freedom model; 3DOF-6DOF model interaction strategy; NMPC system; UAV optimal trajectory; atmospheric updrafts; autonomous UAV; control commands; dynamic atmospheric environment; energy extraction; energy harvesting; heuristic search method; nonlinear model predictive control system; online estimation; optimal control problem; real-time computation; real-time contraints; Aircraft; Atmospheric modeling; Computational modeling; Estimation; Mathematical model; Optimal control; Real-time systems;
Conference_Titel :
Control Conference (ECC), 2013 European
Conference_Location :
Zurich
