In this paper, we present the use of optimal estimation and control algorithms to guide and control an autonomous glider to reach a desired target state zone. The optimal estimation technique is based on an Extended Kalman Filter that uses quaternion orientation representation and online calibration techniques in order to enhance the state estimation algorithm. The control scheme is based on a LQR tracker control law that uses a linearized time invariant representation of the plant. The optimal control law guides the glider nonlinear dynamics based on a set of continuous parameterized parabolic reference curves that allows the glider to reach the final state zone in a natural way using low energy consumption.
- Dynamic Systems and Control Division
Guidance of an Autonomous Glider to a Target Zone
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Pérez R., AE, & Rodríguez H., CF. "Guidance of an Autonomous Glider to a Target Zone." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperative and Decentralized Control; Dynamic System Modeling; Dynamical Modeling and Diagnostics in Biomedical Systems; Dynamics and Control in Medicine and Biology; Estimation and Fault Detection; Estimation and Fault Detection for Vehicle Applications; Fluid Power Systems; Human Assistive Systems and Wearable Robots; Human-in-the-Loop Systems; Intelligent Transportation Systems; Learning Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 167-175. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8736
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