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research-article

Periodic Control of Unmanned Aerial Vehicles based on Differential Flatness

[+] Author and Article Information
Oladapo Ogunbodede

Graduate Student, Department of Mechanical and Aerospace Engineering, University at Buffalo, Buffalo, NY - 14260, USA
oladapot@buffalo.edu

Souransu Nandi

Graduate Student, Department of Mechanical and Aerospace Engineering, University at Buffalo, Buffalo, NY - 14260, USA
souransu@buffalo.edu

Tarunraj Singh

Professor, Department of Mechanical and Aerospace Engineering, University at Buffalo, Buffalo, NY - 14260, USA
tsingh@buffalo.edu

1Corresponding author.

ASME doi:10.1115/1.4043114 History: Received April 10, 2018; Revised February 20, 2019

Abstract

Unmanned Aerial Vehicles (UAVs) are making increasingly long flights today with significantly longer mission times. This requires the UAVs to have long endurance as well as have long range capabilities. Motivated by locomotory patterns in birds and marine animals which demonstrate a powered-coasting-powered periodic locomotory behavior, an optimal control problem is formulated to study UAV trajectory planning. The concept of differential flatness is used to reformulate the optimal control problem as a nonlinear programming problem where the flat outputs are parameterized using Fourier series. The P test is also used to verify the existence of a periodic solution which outperforms the steady state motion. An example of an Aerosonde UAV is used to illustrate the improvement in endurance and range costs, of the periodic control solutions relative to the equilibrium flight.

Copyright (c) 2019 by ASME
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