Boundary tracking using sampling based model predictive control law

Patnaik, KNV and Ratnoo, A (2019) Boundary tracking using sampling based model predictive control law. In: AIAA Scitech 2019 Forum, 7-11 January 2019, San Diego, California.

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Abstract

A planning and control strategy for fixed wing UAVs is proposed to track boundaries using on-board path planning and model predictive control law for the system dynamics. The proposed controller addresses the performance of the boundary tracking task while abiding by the permissible actuation limits. Effectiveness of the approach is verified by applying the control law on a nonlinear kinematic model of the UAV. © 2019 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

Item Type:	Conference Paper
Publication:	AIAA Scitech 2019 Forum
Publisher:	American Institute of Aeronautics and Astronautics Inc, AIAA
Additional Information:	cited By 0; Conference of AIAA Scitech Forum, 2019 ; Conference Date: 7 January 2019 Through 11 January 2019; Conference Code:225819
Keywords:	Aviation; Control theory; Fixed wings; Kinematics; Motion planning; Predictive control systems, Boundary tracking; Control laws; Nonlinear kinematics; Planning and control; Sampling-based; System Dynamics, Model predictive control
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	05 Oct 2020 10:14
Last Modified:	05 Oct 2020 10:14
URI:	http://eprints.iisc.ac.in/id/eprint/65387

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