elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

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.

Full text not available from this repository.

Abstract

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
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Dauer, Johann C.Johann.Dauer (at) dlr.deUNSPECIFIED
Faulwasser, TimmUNSPECIFIEDUNSPECIFIED
Lorenz, Svensven.lorenz (at) dlr.deUNSPECIFIED
Date:2014
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
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
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems
Deposited By: Dauer, Johann
Deposited On:30 Jun 2014 16:45
Last Modified:30 Jun 2014 16:45

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.