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Autonomous landing of an UAV on a moving platform using Model Predictive Control

Abstract : This paper proposes a linear Model Predictive Control (MPC) for high-accuracy tracking of a mobile robotic platform, in an indoor environment. The mission is divided into three main phases: target detection, target tracking and autonomous lading. These phases were coded into a so-called guidance function, which allows the system to safely switch between different reference signals according to the state of the mission. In order to ease the control loop implementation in the experimental framework available at the facilities of ISAE Supaero, some existing optimisation tools were employed. In addition, some simulations and real tests were carried out to demonstrate the performance of the controller against other control techniques developed for the same experimental system.
Keywords : UAV MPC
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Conference papers
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https://hal.archives-ouvertes.fr/hal-01697209
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Submitted on : Wednesday, January 31, 2018 - 9:48:45 AM
Last modification on : Thursday, February 7, 2019 - 2:21:27 PM
Long-term archiving on: : Tuesday, May 1, 2018 - 1:09:55 PM

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  • HAL Id : hal-01697209, version 1
  • OATAO : 19409

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José Alfredo Macés-Hernández, François Defay, Corentin Chauffaut. Autonomous landing of an UAV on a moving platform using Model Predictive Control. The 2017 Asian Control Conference (ASCC 2017), Dec 2017, Gols Coast, Australia. pp. 1-6. ⟨hal-01697209⟩

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