Obstacle avoidance control for PVTOLs based on a virtual space approach

Tomoaki Kobayashi, Atsushi Ueda, Joe Imae, Guisheng Zhai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In this paper, we deal with an obstacle avoidance control for a PVTOL (Planar Vertical Takeoff and Landing) aircraft. One of the effective approaches is to formulate such a problem in the framework of optimal control with penalties in the cost functions, and thus any existing optimal control design method is applicable. Based on the 'virtual space' approach, we formulate the obstacle avoidance problem as an unconstrained optimal control problem. We design a transform function for making an unconstrained virtual space. The model of the PVTOL aircraft is represented as a descriptor form. Then, we propose a solution to the descriptor form. The effectiveness of our approach is confirmed by numerical experiments.

Original languageEnglish
Title of host publicationProceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
Pages868-872
Number of pages5
DOIs
Publication statusPublished - 2009 Sep 21
Externally publishedYes
Event2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 - Okayama, Japan
Duration: 2009 Mar 262009 Mar 29

Publication series

NameProceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009

Conference

Conference2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
CountryJapan
CityOkayama
Period09/3/2609/3/29

Keywords

  • Constrained optimal control
  • Obstacle avoidance
  • PVTOL aircraft
  • Variable transformation

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Electrical and Electronic Engineering

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  • Cite this

    Kobayashi, T., Ueda, A., Imae, J., & Zhai, G. (2009). Obstacle avoidance control for PVTOLs based on a virtual space approach. In Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 (pp. 868-872). [4919394] (Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009). https://doi.org/10.1109/ICNSC.2009.4919394