Name
Title | ||
|---|---|---|
Using Linear Model Predictive Control via Feedback Linearization for dynamic encirclement |
Abstract | ||
|---|---|---|
An Unmanned Aerial Vehicle (UAV) team formed from two or more UAVs is used in the autonomous encirclement of a stationary target in simulation. The encirclement tactic is defined as the situation in which a target is surrounded by a UAV team in formation. This tactic can be employed by a team of UAVs to neutralize a target by restricting its movement. A combination of Linear Model Predictive Control (LMPC) and Feedback Linearization (FL) is implemented on a team of UAVs in order to accomplish dynamic encirclement. The linear plant, representing each UAV, is found through System Identification then linearized using an FL technique. The contributions of this paper lay in the application of LMPC and FL to the problem of encirclement using an autonomous team of UAVs in simulation. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/ACC.2014.6858619 | American Control Conference |
Keywords | Field | DocType |
autonomous aerial vehicles,feedback,linearisation techniques,mobile robots,predictive control,robot dynamics,FL technique,LMPC,UAV team,autonomous encirclement,dynamic encirclement,encirclement tactic,feedback linearization,linear model predictive control,linear plant,stationary target,system identification,unmanned aerial vehicle team,Feedback Linearization,Linear Model Predictive Control,Unmanned Aerial Vehicles | Encirclement,Linear model,Computer science,Control theory,Model predictive control,Feedback linearization,Control engineering,System identification | Conference |
ISSN | Citations | PageRank |
0743-1619 | 2 | 0.40 |
References | Authors | |
8 | 6 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ahmed T. Hafez | 1 | 30 | 4.47 |
| Iskandarani, M. | 2 | 2 | 0.40 |
| Sidney Nascimento Givigi | 3 | 64 | 12.40 |
| Shahram Yousefi | 4 | 171 | 22.61 |
| Camille A. Rabbath | 5 | 142 | 13.60 |
| Alain Beaulieu | 6 | 40 | 7.78 |