Finite Horizon Nonlinear Suboptimal Control for an Autonomous Soaring UAV

Author:

Ángeles-Rojas David1ORCID,Santos-Sánchez Omar-Jacobo2ORCID,Salazar Sergio1ORCID,Lozano Rogelio13ORCID

Affiliation:

1. French-Mexican Laboratory on Computer Science and Control UMI LAFMIA, Center for Research and Advanced Studies of the National Polytechnic Institute, Mexico, Mexico

2. Research Center in Information Technology and Systems, Autonomous University of the State of Hidalgo, Pachuca, Mexico

3. Heuristics and Diagnostics for Complex Systems, UMR CNRS 7253, Université de Technologie de Compiègne, 60203 Compiègne, France

Abstract

In this paper, a suboptimal nonlinear discrete control for nonlinear discrete affine systems is implemented in an autonomous soaring unmanned aerial vehicle (UAV) to improve energy consumption and performance. General expressions for this controller are obtained from the continuous nonlinear guidance model of a fixed-wing UAV and applied in a multiloop control structure. Simulation results in the task of trajectory tracking inside a thermal updraft and a comparative study with a proportional derivative (PD) controller validated the effectiveness of this method.

Funder

UMI-CINVESTAV

Publisher

Hindawi Limited

Subject

General Engineering,General Mathematics

Reference17 articles.

1. Thermal detection and generation of collision-free trajectories for cooperative soaring UAVs;J. A. Cobano

2. Cooperative autonomy of multiple solar-powered thermaling gliders;N. Camacho;IFAC Proceedings Volumes (IFAC Papers-OnLine),2014

3. The AutoSOAR autonomous soaring aircraft, part 1: Autonomy algorithms

4. Energy-Optimal Guidance of Hybrid Ultra-Long Endurance UAV

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