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Implementing and Testing a Nonlinear Model Predictive Tracking Controller



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WeC11 3 2005 American Control Conference June 8 10 2005 Portland OR USA Implementing and Testing a Nonlinear Model Predictive Tracking Controller for Aerial Pursuit Evasion Games on a Fixed Wing Aircraft J Mikael Eklund Jonathan Sprinkle and Shankar Sastry Abstract Flight test and simulation results are presented for a Nonlinear Model Predictive Tracking Controller NMPC used in pursuit and evasion maneuvers in three dimensions on a fixed wing Unmanned Aerial Vehicle UAV for the purposes of pursuit evasion games PEGs against a piloted F 15 aircraft These controllers are shown to be effective for both asymmetric and symmetric PEGs While the capability of UAVs to perform autonomously has not yet been demonstrated this is an important step to enable at least limited autonomy in such aircraft to operate with temporary loss of remote control or when confronted with an adversary or obstacles for which remote control is insufficient Such capabilities have been under development in the Software Enabled Control SEC program and were recently tested in the Capstone Demonstration of that program I I NTRODUCTION Unmanned Aerial Vehicle UAV have recently been used with great success in gathering military intelligence 1 by providing a viable alternative to manned aircraft through their smaller size reduced risk to life and limb and reduced cost These successes and challenges have stimulated research into UAV autonomy UAVs have however exhibited very little autonomy todate and in the face of adversaries this lack of autonomy is a liability While some defense against ground based adversaries can be achieved through either low level or very high level flight success against an intelligent i e manned airborne adversary must rely on one of four possible dimensions in which to obtain an advantage speed maneuverability munitions and intelligence of control This experiment focuses on the last of those by improving the intelligence of the aircraft which allows for current aircraft designs



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