A predictive control-based algorithm for path following of autonomous aerial vehicles

Ionela Prodan 1 Sorin Olaru 1 Fernando Fontes 2 Cristina Stoica 1 Silviu-Iulian Niculescu 3, 4
3 DISCO - Dynamical Interconnected Systems in COmplex Environments
L2S - Laboratoire des signaux et systèmes, Inria Saclay - Ile de France, SUPELEC, CNRS - Centre National de la Recherche Scientifique : UMR8506
4 Division Systèmes - L2S
L2S - Laboratoire des signaux et systèmes : 1289
Abstract : The present paper addresses the path following problem of nonholonomic systems by considering a predictive control-based framework. The particularity of the present study resides in the use of differential flatness formalism for a reference trajectory generation. Furthermore, having the reference trajectory available in a parameterized form, an optimization-based problem which minimizes the tracking error for the nonholonomic system can be formulated and further enhanced via path following. The proposed method exhibits effective performance validated through simulations for the control of autonomous aerial vehicles.
Document type :
Conference papers
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https://hal.inria.fr/hal-00917261
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Submitted on : Wednesday, December 11, 2013 - 3:33:01 PM
Last modification on : Tuesday, June 4, 2019 - 11:08:06 AM

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Ionela Prodan, Sorin Olaru, Fernando Fontes, Cristina Stoica, Silviu-Iulian Niculescu. A predictive control-based algorithm for path following of autonomous aerial vehicles. IEEE Multi-conference on Systems and Control, 2013, Hyderabad, India. pp.1042 - 1047, ⟨10.1109/CCA.2013.6662889⟩. ⟨hal-00917261⟩

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