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System Theory pp 325–343Cite as

A Hybrid Control Architecture for Aggressive Maneuvering of Autonomous Aerial Vehicles

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Part of the book series: The Springer International Series in Engineering and Computer Science ((SECS,volume 518))

Abstract

In this paper we propose a hierarchical control architecture for aggressive maneuvering applicable to autonomous aerial vehicles. In order to reduce the computational requirements of the optimal control problem to solve, a hybrid system framework is used, which allows for a substantial reduction in the complexity of the system, as well as for guarantees on the stability of the overall behavior. The hybrid controller is based on an automaton whose states represent feasible trajectory primitives. The selection of maneuvers, and hence the generation of the complete trajectory, can be cast as an optimal control problem that can be solved efficiently in real time. Examples and extensions for robustness conclude the paper.

Research supported by Draper Laboratory IR&D DL-H-505334

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Author information

Authors and Affiliations

  1. Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, 02139, USA

    Emilio Frazzoli, Munther A. Dahleh & Eric Feron

Authors
  1. Emilio Frazzoli
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  2. Munther A. Dahleh
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  3. Eric Feron
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Editor information

Editors and Affiliations

  1. University of Massachusetts Amherst, USA

    Theodore E. Djaferis

  2. GTE Internetworking, USA

    Irvin C. Schick

  3. Harvard University, USA

    Irvin C. Schick

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© 2000 Springer Science+Business Media New York

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Frazzoli, E., Dahleh, M.A., Feron, E. (2000). A Hybrid Control Architecture for Aggressive Maneuvering of Autonomous Aerial Vehicles. In: Djaferis, T.E., Schick, I.C. (eds) System Theory. The Springer International Series in Engineering and Computer Science, vol 518. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-5223-9_24

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  • DOI: https://doi.org/10.1007/978-1-4615-5223-9_24

  • Publisher Name: Springer, Boston, MA

  • Print ISBN: 978-1-4613-7380-3

  • Online ISBN: 978-1-4615-5223-9

  • eBook Packages: Springer Book Archive

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