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Practical approach to real-time trajectory tracking of UAV formations

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4 Author(s)
Vanek, Balint ; Comput. & Autom. Res. Inst., Hungarian Acad. of Sci., Budapest, Hungary ; Peni, T. ; Bokor, J. ; Balas, Gary

An unmanned aerial vehicle (UAV) formation in a leader-follower structure, where the UAVs are flying a common trajectory determined by a route planner hosted on the leader is considered. The path description is compressed by polynomial functions with respect to the flight envelope constraints and transmitted to the followers, where a model predictive control (MPC) outer loop controller specifies the command signals for the 7-h locally controlled dynamics with respect to the nonlinear constraints of the aircraft dynamics. Real time feasibility issues associated with the design are discussed.

Published in:

American Control Conference, 2005. Proceedings of the 2005

Date of Conference:

8-10 June 2005

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