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Verification of Cooperative Maneuvers in FlightGear using MPC and Backwards Reachable Sets
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0002-1927-1690
2018 (English)In: 2018 European Control Conference, ECC 2018, Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 1411-1416, article id 8550247Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we develop a simulation setup for testing and analyzing cooperative maneuvers and corresponding control algorithms. We also find feasible initial sets using backwards reachable set computations for the cooperative control problem, which we then test using the simulation setup. The particular example considered is a cooperative rendezvous between a fixed-wing unmanned aerial vehicle and a unmanned ground vehicle. The open-source software FlightGear and JSBSim are used for the vehicle dynamics, enabling testing of algorithms in a realistic environment. The aircraft models include nonlinear, state-dependent dynamics, making it possible to capture complex behaviors like stall and spin. Moreover, environmental effects such as wind gusts and turbulence are directly integrated into the simulations. From the simulations we get a comprehensive understanding of the controller performance and feasibility when tested in a real-time scenario. Results from several landing simulations are presented, and demonstrate that the MPC solution for the cooperative rendezvous problem is a promising method also for use in complex, safety-critical systems.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2018. p. 1411-1416, article id 8550247
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-241397DOI: 10.23919/ECC.2018.8550247Scopus ID: 2-s2.0-85059813264ISBN: 9783952426982 (print)OAI: oai:DiVA.org:kth-241397DiVA, id: diva2:1281062
Conference
16th European Control Conference, ECC 2018, Limassol, Cyprus, 12 June 2018 through 15 June 2018
Note

QC 20190121

Available from: 2019-01-21 Created: 2019-01-21 Last updated: 2019-01-21Bibliographically approved

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Persson, LinneaWahlberg, Bo

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CiteExportLink to record
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  • apa
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  • de-DE
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