Faithin Omaha eBook Collection

Download or read book Robust Trajectory Optimization and Control of a Dynamic Soaring Unmanned Aerial Vehicle written by Tristan Charles Flanzer and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: A robust trajectory optimization method is formulated using a stochastic collocation based approach and is then applied to the design of periodic dynamic soaring trajectories for unmanned aerial vehicles (UAVs). Repetitive control is proposed and evaluated as a means for reducing tracking error for UAVs flying periodic trajectories both in simulation and experimentally. Experiments conducted in an indoor flying laboratory outfitted with a VICON motion capture system demonstrate significant reductions in tracking error even in the presence of large and unknown disturbances.