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Path planning and optimal control strategies for unmanned aerial vehicles with bounded inputs

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2 Author(s)
Amit Ailon ; Dept. of Electrical and Computer Eng., Ben-Gurion University of the Negev ; Ilan Zohar

A simple approach has been established for solving suboptimal control problems in unmanned aerial vehicles with bounded inputs. The approach is based on trajectory parametrization for the constrained aerial vehicle control. The proposed framework for synthesizing the control algorithms employs the concept of polynomial controllability and the flatness property of the underlying physical model. In this framework the method of accomplishing the minimization is based on tools from the nonlinear dynamic programming theory, which can easily be implemented in real time computations.

Published in:

Electrical and Electronics Engineers in Israel (IEEEI), 2010 IEEE 26th Convention of

Date of Conference:

17-20 Nov. 2010