Using Linear Model Predictive Control Via Feedback Linearization for Dynamic Encirclement

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Authors
  1. Hafez, A.T.
  2. Iskandarani, M.
  3. Givigi, S.N.
  4. Yousefi, S.
  5. Rabbath, C.A.
  6. Beaulieu, A.
Corporate Authors
Defence Research and Development Canada, Valcartier Research Centre, Quebec QC (CAN);Queen's Univ, Kingston ONT (CAN) Dept of Electrical and Computer Engineering;Royal Military Coll of Canada, Kingston ONT (CAN);Canadian Forces Base Valcartier, Valcartier QUE (CAN)
Abstract
An Unmanned Aerial Vehicle (UAV) team formed from two or more UAVs is used in the autonomous encirclement of a stationary target in simulation. The encirclement tactic is defined as the situation in which a target is surrounded by a UAV team in formation. This tactic can be employed by a team of UAVs to neutralize a target by restricting its movement. A combination of Linear Model Predictive Control (LMPC) and Feedback Linearization (FL) is implemented on a team of UAVs in order to accomplish dynamic encirclement. The linear plant, representing each UAV, is found through System Identification then linearized using an FL technique. The contributions of this paper lay in the application of LMPC and FL to the problem of encirclement using an autonomous team of UAVs in simulation.
Keywords
model predictive control;feedback linearization;encirclement;unmanned vehicles
Report Number
DRDC-RDDC-2015-P029 — External Literature
Date of publication
11 Jul 2017
Number of Pages
6
DSTKIM No
CA045000
CANDIS No
805379
Format(s):
Electronic Document(PDF)

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