Robust trajectory optimization and control of a dynamic soaring unmanned aerial vehicle
Abstract/Contents
- Abstract
- 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.
Description
| Type of resource | text |
|---|---|
| Form | electronic; electronic resource; remote |
| Extent | 1 online resource. |
| Publication date | 2012 |
| Issuance | monographic |
| Language | English |
Creators/Contributors
| Associated with | Flanzer, Tristan Charles |
|---|---|
| Associated with | Stanford University, Department of Aeronautics and Astronautics |
| Primary advisor | Kroo, Ilan |
| Thesis advisor | Kroo, Ilan |
| Thesis advisor | Alonso, Juan José, 1968- |
| Thesis advisor | Bieniawski, Stefan Richard |
| Thesis advisor | Rock, Stephen M |
| Advisor | Alonso, Juan José, 1968- |
| Advisor | Bieniawski, Stefan Richard |
| Advisor | Rock, Stephen M |
Subjects
| Genre | Theses |
|---|
Bibliographic information
| Statement of responsibility | Tristan Flanzer. |
|---|---|
| Note | Submitted to the Department of Aeronautics and Astronautics. |
| Thesis | Thesis (Ph.D.)--Stanford University, 2012. |
| Location | electronic resource |
Access conditions
- Copyright
- © 2012 by Tristan Charles Flanzer
- License
- This work is licensed under a Creative Commons Attribution Non Commercial 3.0 Unported license (CC BY-NC).
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