An Integrated Control Architecture for a Cloud-based Unmanned Aerial Vehicle System with Lossy Networks.
2019 18th European Control Conference (ECC)(2019)
摘要
Unmanned Aerial Vehicles (UAVs) have been successfully employed in cooperative tasks over recent years, particularly in the applications for smart cities. In such scenario, a networked control system (NCS) framework is usually adopted since measurement and actuation data are mainly transmitted through communication networks. This paper proposes an integrated control architecture for a Cloud-based fixed-wing UAV system, where the control logic resides in the Cloud and sensing and actuating signals are transmitted over a realistic wireless network. The proposed control strategy leverages model predictive control (MPC) and a specialized Kalman filter in combination with two ad-hoc buffers, which enables simultaneous compensation for measurement and control input packet dropouts. Simulations of a nonlinear aircraft model show the effectiveness and advantages of proposed integrated scheme over an existing linear quadratic (LQ)-based control strategy.
更多查看译文
关键词
integrated control architecture,lossy networks,UAVs,smart cities,networked control system framework,actuation data,communication networks,actuating signals,realistic wireless network,control input packet,unmanned aerial vehicles,model predictive control,cloud-based fixed-wing UAV system,cloud-based unmanned aerial vehicle system,Kalman filter,ad-hoc buffers,nonlinear aircraft model
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要