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Computational Aspects of Optimization-Based Path Following of an Unmanned Helicopter

Dauer, Johann C. and Faulwasser, Timm and Lorenz, Sven (2014) Computational Aspects of Optimization-Based Path Following of an Unmanned Helicopter. The 18th European Conference on Mathematics for Industry, 9.-13. Juni 2014, Taormina, Italien.

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This paper considers the path following of unmanned helicopters based on dynamic optimization. We assume that the helicopter is equipped with a flight control system that provides an approximation of its closed-loop dynamics. The task at hand is to compute inputs for this flight control system in order to track a geometrically specified path. A concise problem formulation and a discussion of an efficient implementation are presented. The implementation achieves computation times below the flight duration of the path by exploiting differential flatness properties of parts of the dynamics. Finally, we present quantitative results with respect to convergence and required iterations for a challenging nonlinear path. We show that the proposed optimization based approach is capable of tackling nonlinear path following for unmanned helicopters in an efficient and practicable manner.

Item URL in elib:https://elib.dlr.de/89601/
Document Type:Conference or Workshop Item (Speech)
Title:Computational Aspects of Optimization-Based Path Following of an Unmanned Helicopter
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Dauer, Johann C.UNSPECIFIEDhttps://orcid.org/0000-0002-8287-2376UNSPECIFIED
Lorenz, SvenUNSPECIFIEDhttps://orcid.org/0000-0002-2133-227XUNSPECIFIED
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:UAV, Path following, Trajectory optimization
Event Title:The 18th European Conference on Mathematics for Industry
Event Location:Taormina, Italien
Event Type:international Conference
Event Dates:9.-13. Juni 2014
Organizer:European Consortium for Mathematics in Industry
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:rotorcraft
DLR - Research area:Aeronautics
DLR - Program:L RR - Rotorcraft Research
DLR - Research theme (Project):L - The Smart Rotorcraft (old)
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems
Deposited By: Dauer, Johann C.
Deposited On:30 Jun 2014 16:45
Last Modified:01 Feb 2022 18:22

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