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

fYear

2013

fDate

17-19 July 2013

Firstpage

1365

Lastpage

1370

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2013 European

Conference_Location

Zurich

Type

conf

Filename

6669640