This paper presents a model predictive control (MPC) strategy to enable a rotary-wing shuttle drone to cooperatively capture a fixed-wing target drone during flight and place it in the ground safely. Simplified models of the two types of drones are presented, along with simple controller for the each vehicle. The developed strategy defines a simple nonlinear MPC problem that models the relative dynamics between the two drones, enabling the capture maneuver without a preassigned trajectory or rendezvous point. Simulation results demonstrate the capabilities of the proposed cooperative capture strategy, whereas experimental trials with a real shuttle and a simulated target validate the hardware and software integration of the developed system, showing promising performance.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    In-flight Capture Maneuver of Drones Using Model Predictive Control


    Beteiligte:


    Erscheinungsdatum :

    04.06.2024


    Format / Umfang :

    1484570 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Ornithopter flight maneuver control

    Dietl, John M. / Garcia, Ephrahim | Tema Archiv | 2009



    Time-of-Flight Analyses for the Gravitational Capture Maneuver

    Ernesto Vieira Neto / Ant-iuml / nio Fernando Bertachini de Almeida Prado | AIAA | 1998


    CRIMINAL CAPTURE DRONES

    CHA DO WAN / LEE CHANG KEUN | Europäisches Patentamt | 2025

    Freier Zugriff

    Air Capture Drones

    GWAK JUN BEOM | Europäisches Patentamt | 2024

    Freier Zugriff