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Unmanned Aerial Vehicles(UAVs) as a formation can accomplish missions with ease than a single UAV. Hence UAVs find applications in environmental monitoring, surveillance tasks etc. In this paper, a controller is synthesized in optimal control framework for achieving any desired formation.By properly choosing formation vectors any formation can be achieved. While moving in formation the UAVs may encounter...
We consider the problem of designing a feedback controller for a fixed-wing unmanned aerial vehicle (UAV) to execute a dynamic post-stall maneuver and land accurately on a perch. This controller must deal with the nonlinearity of the post-stall dynamics and inherently limited control authority of the actuators. Using a recently proposed algorithm called “LQR-Trees”, here we demonstrate that we can...
In this work we present a systematic approach to incorporating the dynamic capabilities of an aircraft via suitable cost functions while planning for terrain following-terrain avoidance trajectories. We further show that use of nondimensional parameters related to the dynamics of an aircraft within the cost function provides a better understanding of how they could affect the resulting trajectories...
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