Robust Trajectory Optimization And Control Of A Dynamic Soaring Unmanned Aerial Vehicle
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Robust Trajectory Optimization and Control of a Dynamic Soaring Unmanned Aerial Vehicle
Author | : Tristan Charles Flanzer |
Publisher | : |
Total Pages | : |
Release | : 2012 |
Genre | : |
ISBN | : |
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A robust trajectory optimization method is formulated using a stochastic collocation based approach and is then applied to the design of periodic dynamic soaring trajectories for unmanned aerial vehicles (UAVs). Repetitive control is proposed and evaluated as a means for reducing tracking error for UAVs flying periodic trajectories both in simulation and experimentally. Experiments conducted in an indoor flying laboratory outfitted with a VICON motion capture system demonstrate significant reductions in tracking error even in the presence of large and unknown disturbances.
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