Encoding aerial pursuit/evasion games with fixed wing aircraft into a nonlinear model predictive tracking controller

Jonathan Sprinkle, J. Mikael Eklund, H. Jin Kim, Shankar Sastry

Research output: Contribution to journalConference articlepeer-review

60 Scopus citations

Abstract

Unmanned Aerial Vehicles (UAVs) have shown themselves to be highly capable in intelligence gathering, as well as a possible future deployment platform for munitions. Currently UAVs are supervised or piloted remotely, meaning that their behavior is not autonomous throughout the night. For uncontested missions this is a viable method; however, if confronted by an adversary, UAVs may be required to execute maneuvers faster than a remote pilot could perform them in order to evade being targeted. In this paper we give a description of a non-linear model predictive controller in which evasive maneuvers in three dimensions are encoded for a fixed wing UAV for the purposes of this pursuit/evasion game.

Original languageEnglish (US)
Article numberWeC09.5
Pages (from-to)2609-2614
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume3
DOIs
StatePublished - 2004
Event2004 43rd IEEE Conference on Decision and Control (CDC) - Nassau, Bahamas
Duration: Dec 14 2004Dec 17 2004

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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