Variable Structure Observer for Control Bias on Unmanned Air Vehicles

Variable Structure Observer for Control Bias on Unmanned Air Vehicles

Coordinated Control of Unmanned Air Vehicles

Interim Progress Report: Intelligent Control Architectures for Unmanned Air Vehicles

The rst section restates the project concept. The next three sections describe our progress on the three research thrusts identiied in our proposal. Section 5 summarises Sections (2),(3), and (4) with reference to the time-lines and deliverables in our proposal. Appendix A is a set of viewgraphs that describe results to date pertaining to research thrusts 1 and 2 above. Impressive advances in c...

Multi-Rate Path-Following Control for Unmanned Air Vehicles

A methodology is provided to tackle the path-following integrated guidance and control problem for unmanned air vehicles with measured outputs available at different rates. The path-following problem is addressed by defining a suitable non-linear path dependent error space to express the vehicle’s nonlinear dynamics. The main novelty of the method is to explicitly take into account the differen...

Nonlinear Model Predictive Control Technique for Unmanned Air Vehicles

A nonlinear model predictive control strategy is developed and subsequently specialized to autonomous aircraft that can be adequately modeled with a rigid 6-degrees-of-freedom representation. Whereas the general air vehicle dynamic equations are nonlinear and nonaffine in control, a closed-form solution for the optimal control input is enabledby expandingboth the output and control in a truncat...