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Implementing and testing a nonlinear model predictive tracking controller for aerial pursuit/evasion games on a fixed wing aircraft

J.M. Eklund, J. Sprinkle, S. Sastry
Proceedings of the 2005, American Control Conference, 2005.  
The capability of Unmanned Aerial Vehicles (UAVs) to perform autonomously has not yet been demonstrated, however this is an important step to enable at least limited autonomy in such aircraft to allow then to operate with temporary loss of remote control, or when confronted with an adversary or obstacles for which remote control is insufficient. Such capabilities have been under development through Software Enabled Control (SEC) program and were recently tested in the Capstone Demonstration of
more » ... e Demonstration of that program. In this paper the final simulation and flight test results are presented for a Non-linear Model Predictive Controller (NMPC) used in evasive maneuvers in three dimensions on a fixed wing UAV for the purposes of pursuit/evasion games with a piloted F-15 aircraft.
doi:10.1109/acc.2005.1470179 fatcat:77v5ppzy2rf4veuklpxdxbgeau