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A collision-free formation flight controller for unmanned aerial vehicle (UAV) is designed in the framework of nonlinear model predictive control (MPC). It can consider control input saturation and state constraints explicitly. Formation configuration is determined based on virtual reference point method, which has no error propagation in the formation. The formation flight controller is designed...
This paper presents a roll state estimator and a rollover prediction model based on a real-time roll estimator. The real-time roll estimator is designed to estimate the current roll angle and roll rate of the vehicle body from a 3DOF vehicle model. The veDYNA dynamic simulation software was used to verify the performance of roll motion prediction. The prediction model calculates the time it takes...
Presents recent work in the areas of simulation, mission planning, and mission execution for an unmanned undersea vehicle (UUV). The UUV we consider is the Manta Test Vehicle (MTV), operated by the Naval Undersea Warfare Center (NUWC) in Newport, Rhode Island. A 6-degrees-of-freedom Simulink model of the MTV vehicle dynamics augmented with an autopilot is used to test the algorithms. The on-board...
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