Title :
Preliminary results on UAV path following using piecewise-affine control
Author :
Shehab, Samer ; Rodrigues, Luis
Author_Institution :
Dept. of Mech. & Ind. Eng., Concordia Univ., Montreal, Que.
Abstract :
The path following problem for a simplified model of an unhabited aerial vehicle (UAV) in longitudinal motion is investigated using a piecewise-affine (PWA) control law and a Lyapunov based controller design technique. The search for the parameters corresponding to the controller and to a piecewise quadratic Lyapunov function is formulated as an optimization problem subject to linear and bilinear matrix inequality constraints. Simulation results will show the effectiveness of the proposed methodology
Keywords :
Lyapunov methods; control system synthesis; linear matrix inequalities; motion control; optimisation; path planning; remotely operated vehicles; Lyapunov based controller design; PWA control law; bilinear matrix inequality; linear matrix inequality; longitudinal motion; optimization problem; path following problem; piecewise quadratic Lyapunov function; piecewise-affine control; uninhabited aerial vehicle; Adaptive control; Aerospace control; Aircraft; Artificial neural networks; Control systems; Hydraulic actuators; Industrial engineering; Motion control; Neural networks; Unmanned aerial vehicles;
Conference_Titel :
Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on
Conference_Location :
Toronto, Ont.
Print_ISBN :
0-7803-9354-6
DOI :
10.1109/CCA.2005.1507151
