This paper describes autonomous unmanned aerial vehicle (UAV) guidance technologies developed and demonstrated in a flight test sponsored by the DARPA software enabled control program. The flight experiment took place in June 2004 using a Boeing UAV testbed and demonstrated important autonomy capabilities enabled by a receding horizon guidance controller and fault detection filter. These technologies were implemented using an application programming interface developed for real-time receding horizon control applications (RHC API) under Boeing's open control platform (OCP) embedded software environment. This paper describes the receding horizon controller (RHC) design process and demonstration scenarios which were designed to exercise and evaluate the primary functionalities of the control system. Simulation results of the key capabilities are shown and compared with recorded flight data for evaluation purposes.
[1]
Gary J. Balas,et al.
Receding horizon control of an F-16 aircraft: A comparative study
,
2006
.
[2]
B.S. Heck,et al.
Software-enabled control: an introduction to the special section
,
2003,
IEEE Control Systems.
[3]
Jan M. Maciejowski,et al.
Reconfiguration and scheduling in flight using quasi-LPV high-fidelity models and MBPC control
,
1998,
Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207).
[4]
Jan M. Maciejowski,et al.
Predictive control : with constraints
,
2002
.
[5]
J. L. Paunicka,et al.
The OCP - an open middleware solution for embedded systems
,
2001
.