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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Oettershagen, P. Melzer, A. Leutenegger, S. Alexis, K. Siegwart, R. |
| Copyright Year | 2014 |
| Description | Author affiliation: Autonomous Syst. Lab., ETH Zurich, Zurich, Switzerland (Oettershagen, P.; Melzer, A.; Leutenegger, S.; Alexis, K.; Siegwart, R.) |
| Abstract | A control strategy for fixed-wing Unmanned Aerial Vehicles is proposed and relies on the combination of linear model predictive control laws for the attitude dynamics of the system, along with an implementation of the $L_{1}-navigation$ logic that provides attitude reference commands to achieve precise path tracking. The employed predictive controllers ensure the performance characteristics of the critical attitude loops, while respecting the actuation limitations of the platform along with safety considerations encoded as state constraints. Being explicitly computed, these strategies are computationally lightweight and allow for seamless integration on the onboard avionics. Once the desired attitude response characteristics are achieved, tuning the cascaded nonlinear $L_{1}-navigation$ law becomes straightforward as lateral acceleration references can be precisely tracked. A wide set of experiments was conducted in order to evaluate the performance of the proposed strategies. As shown high quality tracking results are achieved. |
| Starting Page | 1159 |
| Ending Page | 1165 |
| File Size | 1574735 |
| Page Count | 7 |
| File Format | |
| ISBN | 9781479959006 |
| e-ISBN | 9781479959013 |
| DOI | 10.1109/MED.2014.6961532 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2014-06-16 |
| Publisher Place | Italy |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Aerospace electronics Aerodynamics Vectors Acceleration Mathematical model Vehicle dynamics Vehicles |
| Content Type | Text |
| Resource Type | Article |
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