Using Linear Model Predictive Control via Feedback Linearization for dynamic encirclement

Author

Hafez, A.T. ; Iskandarani, M. ; Givigi, Sidney N. ; Yousefi, Siamak ; Rabbath, C.A. ; Beaulieu, A.

Author_Institution

Dept. of Electr. & Comput. Eng., Queens Univ., Kingston, ON, Canada

fYear

2014

fDate

4-6 June 2014

Firstpage

3868

Lastpage

3873

Abstract

An Unmanned Aerial Vehicle (UAV) team formed from two or more UAVs is used in the autonomous encirclement of a stationary target in simulation. The encirclement tactic is defined as the situation in which a target is surrounded by a UAV team in formation. This tactic can be employed by a team of UAVs to neutralize a target by restricting its movement. A combination of Linear Model Predictive Control (LMPC) and Feedback Linearization (FL) is implemented on a team of UAVs in order to accomplish dynamic encirclement. The linear plant, representing each UAV, is found through System Identification then linearized using an FL technique. The contributions of this paper lay in the application of LMPC and FL to the problem of encirclement using an autonomous team of UAVs in simulation.

Keywords

autonomous aerial vehicles; feedback; linearisation techniques; mobile robots; predictive control; robot dynamics; FL technique; LMPC; UAV team; autonomous encirclement; dynamic encirclement; encirclement tactic; feedback linearization; linear model predictive control; linear plant; stationary target; system identification; unmanned aerial vehicle team; Aerodynamics; Angular velocity; Equations; Mathematical model; Vectors; Vehicle dynamics; Vehicles; Feedback Linearization; Linear Model Predictive Control; Unmanned Aerial Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2014

Conference_Location

Portland, OR

ISSN

0743-1619

Print_ISBN

978-1-4799-3272-6

Type

conf

DOI

10.1109/ACC.2014.6858619

Filename

6858619