A Receding Horizon Control scheme with partial state measurements: Control augmentation of a flexible UAV

Author

Franze, Giuseppe ; Mattei, Massimiliano ; Ollio, Luciano ; Scordamaglia, Valerio

Author_Institution

DIMES, Univ. degli Studi della Calabria, Rende, Italy

fYear

2013

fDate

9-11 Oct. 2013

Firstpage

158

Lastpage

163

Abstract

In this paper the implementation of an Output Feedback Receding Horizon Control (RHC) algorithm for constrained uncertain discrete-time linear systems subject to norm-bounded Linear Fractional Representation (LFR) model uncertainties has been developed. Performance and effectiveness of the proposed strategy have been numerically tested by considering the control augmentation problem of an High Altitude Performance Demonstrator (HAPD) unmanned aircraft with redundant control surfaces.

Keywords

autonomous aerial vehicles; discrete time systems; feedback; linear systems; redundancy; uncertain systems; LFR model uncertainties; RHC algorithm; constrained uncertain discrete-time linear systems; control augmentation problem; flexible UAV; high altitude performance demonstrator unmanned aircraft; norm-bounded linear fractional representation model uncertainties; numerical testing; output feedback receding horizon control algorithm; partial state measurements; redundant control surfaces; Elevators; Iron; Predictive control; Predictive models; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Fault-Tolerant Systems (SysTol), 2013 Conference on

Conference_Location

Nice

Type

conf

DOI

10.1109/SysTol.2013.6693921

Filename

6693921