Practical approach to real-time trajectory tracking of UAV formations

被引：17

作者：

Vanek, M ^{[1
]}

Péni, T ^{[1
]}

Bokor, J ^{[1
]}

Balas, G ^{[1
]}

机构：

[1] Hungarian Acad Sci, Syst & Control Lab, Comp & Automat Res Inst, H-1111 Budapest, Hungary

来源：

ACC: Proceedings of the 2005 American Control Conference, Vols 1-7 | 2005年

关键词：

D O I：

10.1109/ACC.2005.1469919

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An Unmanned Aerial Vehicle (UAV) formation in a leader-follower structure, where the UAVs are flying a common trajectory determined by a route planner hosted on the leader is considered; The path-description is compressed by polynomial functions with respect to the flight envelope constraints and transmitted to the followers, where a Model Predictive Control (MPC) outer loop controller specifies the command signals for the H-infinity locally controlled dynamics with respect to the nonlinear constraints of the aircraft dynamics. Real time feasibility issues associated with the design are discussed.

引用

页码：122 / 127

页数：6