Geometric versus Model Predictive Control based guidance algorithms for fixed-wing UAVs in the presence of very strong wind fields.

Furieri, Luca (2016) Geometric versus Model Predictive Control based guidance algorithms for fixed-wing UAVs in the presence of very strong wind fields. [Laurea magistrale], Università di Bologna, Corso di Studio in Ingegneria dell'automazione [LM-DM270]
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Abstract

The recent years have witnessed increased development of small, autonomous fixed-wing Unmanned Aerial Vehicles (UAVs). In order to unlock widespread applicability of these platforms, they need to be capable of operating under a variety of environmental conditions. Due to their small size, low weight, and low speeds, they require the capability of coping with wind speeds that are approaching or even faster than the nominal airspeed. In this thesis, a nonlinear-geometric guidance strategy is presented, addressing this problem. More broadly, a methodology is proposed for the high-level control of non-holonomic unicycle-like vehicles in the presence of strong flowfields (e.g. winds, underwater currents) which may outreach the maximum vehicle speed. The proposed strategy guarantees convergence to a safe and stable vehicle configuration with respect to the flowfield, while preserving some tracking performance with respect to the target path. As an alternative approach, an algorithm based on Model Predictive Control (MPC) is developed, and a comparison between advantages and disadvantages of both approaches is drawn. Evaluations in simulations and a challenging real-world flight experiment in very windy conditions confirm the feasibility of the proposed guidance approach.

Abstract
Tipologia del documento
Tesi di laurea (Laurea magistrale)
Autore della tesi
Furieri, Luca
Relatore della tesi
Correlatore della tesi
Scuola
Corso di studio
Indirizzo
Curriculum: Sistemi per l'automazione
Ordinamento Cds
DM270
Parole chiave
UAV,fixed-wing,fixed wing,aircraft,guidance,wind,strong winds,fast winds,nonlinear systems,look-ahead,wind speed higher than airspeed,MPC,NMPC,Model Predictive Control,Nonlinear Model Predictive Control,path tracking,path following
Data di discussione della Tesi
7 Ottobre 2016
URI

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