Robust Model Predictive Control of Unmanned Aerial Vehicles Using Waysets

Shekhar, Rohan C., Kearney, Michael and Shames, Iman (2015) Robust Model Predictive Control of Unmanned Aerial Vehicles Using Waysets. Journal of Guidance, Control, and Dynamics, 38 10: 1898-1907. doi:10.2514/1.G000787


Author Shekhar, Rohan C.
Kearney, Michael
Shames, Iman
Title Robust Model Predictive Control of Unmanned Aerial Vehicles Using Waysets
Journal name Journal of Guidance, Control, and Dynamics   Check publisher's open access policy
ISSN 0731-5090
1533-3884
Publication date 2015-03-12
Year available 2015
Sub-type Article (original research)
DOI 10.2514/1.G000787
Open Access Status Not Open Access
Volume 38
Issue 10
Start page 1898
End page 1907
Total pages 10
Place of publication Reston, VA United States
Publisher American Institute of Aeronautics and Astronautics
Language eng
Formatted abstract
This paper introduces a new formulation of model predictive control for robust trajectory guidance of unmanned aerial vehicles. It generalizes the ubiquitous concept of waypoints to waysets, in order to provide robustness to bounded state disturbances in the presence of obstacles. Using a variable horizon formulation of model predictive control, it shows how wayset guidance combined with constraint tightening can guarantee robust recursive feasibility and finite-time completion of a control maneuver. Simulations on a point mass fixed-wing unmanned aerial vehicle model moving through a field of obstacles with wind disturbances demonstrate significant computational benefits from using waysets when compared to existing mixed-integer optimization methods that employ long prediction horizons. Using the controller’s robustness to mitigate linearization error, an additional example implements the strategy on a simulated quadrotor, demonstrating how waysets can be used to control more complex nonlinear systems.
Q-Index Code C1
Q-Index Status Confirmed Code
Institutional Status UQ

Document type: Journal Article
Sub-type: Article (original research)
Collections: School of Mechanical & Mining Engineering Publications
Official 2016 Collection
 
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Created: Mon, 02 Nov 2015, 20:11:58 EST by Dr Michael Kearney on behalf of School of Mechanical and Mining Engineering