UAVs have the capability to perform maneuvers that would otherwise be unrealistic to do in an inhabited craft due to human limitations of both response time as well as comfort or black-out limits. Given this expansion of its operational envelope, a natural question to ask is on the design of new maneuvers for UAVs that serve the needs of the mission. One of these needs is a rapid response time. In this context, we explore the design of a minimum-time velocity reversal maneuver for a fixed-wing UAV. Pseudospectral optimal control theory is used to address this problem. We discuss a wide-range of issues from theory to flight implementation. We show that these issues are interdependent and explore key convergence results that are critical for a successful flight. Results for a MONARC UAV are used to illustrate the close connection between theory and practice.
Enhancing the Practical Agility of UAVs via Pseudospectral Optimal Control
2013
30 Seiten
Article/Chapter (Book)
English
Enhancing the Practical Agility of UAVs via Pseudospectral Optimal Control
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