Motion planning and optimal control of an autonomous VTOL aircraft

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Abstract

This study presents a simple algorithm for motion-planning and state-to-state control of a Vertical Take-Off and Landing (VTOL) aircraft. The proposed motion-planning procedure is based on the solution of a linear algebraic equation. The resulting schemes are useful for flight control of an autonomous VTOL aircraft in case the objective is to transfer the system from a given state to a prescribed target. The proposed controller minimizes a selected quadratic index of performance. The solution to the (sub) optimal control problem is simple and reduces to the evaluation of a minimum point of a function of several variables.

Original languageEnglish
Title of host publication6th IFAC Symposium on Intelligent Autonomous Vehicles, IAV 200707 - Proceedings
PublisherIFAC Secretariat
Pages13-18
Number of pages6
EditionPART 1
ISBN (Print)9783902661654
DOIs
StatePublished - 1 Jan 2007

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
Volume6
ISSN (Print)1474-6670

Keywords

  • Controllability
  • Motion planning
  • Optimal control
  • State-to-state control
  • Vertical take-off and landing aircraft

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