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Encirclement of moving target using linear model predictive control via feedback linearization | IEEE Conference Publication | IEEE Xplore

Encirclement of moving target using linear model predictive control via feedback linearization


Abstract:

A team of Unmanned Aerial Vehicles (UAVs) is used for the dynamic encirclement of a moving target in simulation. The encirclement tactic is defined for the situation in w...Show More

Abstract:

A team of Unmanned Aerial Vehicles (UAVs) is used for the dynamic encirclement of a moving target in simulation. The encirclement tactic is defined for the situation in which a target is isolated and surrounded by a group of UAVs. It may be employed by a team of UAVs to neutralize the target and restrict its movement. A combination of decentralized Linear Model Predictive Control (LMPC) and Feedback Linearization (FL) is implemented on the team of UAVs in order to accomplish dynamic encirclement around a moving target. The main contribution of this paper lays in the application of LMPC and FL to solve the problem of encirclement of a moving target using an autonomous team of UAVs in simulation.
Date of Conference: 05-08 October 2014
Date Added to IEEE Xplore: 04 December 2014
Electronic ISBN:978-1-4799-3840-7
Print ISSN: 1062-922X
Conference Location: San Diego, CA, USA

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