Trajectory Optimization and NMPC Tracking for a Fixed Wing UAV in Deep Stall with Perch Landing
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arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2022
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| Acceso en línea: | |
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| _version_ | 1866929292531728384 |
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| author | Nguyen, Huu Thien Prodan, Ionela Fontes, Fernando A. C. C. |
| author_facet | Nguyen, Huu Thien Prodan, Ionela Fontes, Fernando A. C. C. |
| contents | This paper presents a novel recovery technique for a fixed-wing UAV (Unmanned Aerial Vehicle) based on constrained optimization: i) we propose a trajectory generation for landing the UAV where it first reduces its altitude by deep stalling, then perches on a recovery net, ii) we design an NMPC (Nonlinear Model Predictive Control) tracking controller with terminal constraints for the optimal generated trajectory under disturbances. Compared to nominal net recovery procedures, this technique greatly reduces the landing time and the final airspeed of the UAV. Simulation results for various wind conditions demonstrate the feasibility of the idea. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2204_11504 |
| institution | arXiv |
| publishDate | 2022 |
| record_format | arxiv |
| spellingShingle | Trajectory Optimization and NMPC Tracking for a Fixed Wing UAV in Deep Stall with Perch Landing Nguyen, Huu Thien Prodan, Ionela Fontes, Fernando A. C. C. Optimization and Control 49N90 (Primary) 93B45 (Secondary) This paper presents a novel recovery technique for a fixed-wing UAV (Unmanned Aerial Vehicle) based on constrained optimization: i) we propose a trajectory generation for landing the UAV where it first reduces its altitude by deep stalling, then perches on a recovery net, ii) we design an NMPC (Nonlinear Model Predictive Control) tracking controller with terminal constraints for the optimal generated trajectory under disturbances. Compared to nominal net recovery procedures, this technique greatly reduces the landing time and the final airspeed of the UAV. Simulation results for various wind conditions demonstrate the feasibility of the idea. |
| title | Trajectory Optimization and NMPC Tracking for a Fixed Wing UAV in Deep Stall with Perch Landing |
| topic | Optimization and Control 49N90 (Primary) 93B45 (Secondary) |
| url | https://arxiv.org/abs/2204.11504 |