Optimal Feedback Guidance of a Small Aerial Vehicle in the Presence of Stochastic Wind

dc.contributor.author Anderson, Ross P.
dc.contributor.author Bakolas, Efstathios
dc.contributor.author Milutinović, Dejan
dc.contributor.author Tsiotras, Panagiotis
dc.contributor.corporatename Georgia Institute of Technology. School of Aerospace Engineering en_US
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines en_US
dc.contributor.corporatename University of California, Santa Cruz. Department of Applied Mathematics and Statistics en_US
dc.contributor.corporatename University of Texas at Austin. Department of Aerospace Engineering
dc.date.accessioned 2014-02-27T16:19:28Z
dc.date.available 2014-02-27T16:19:28Z
dc.date.issued 2013
dc.description Copyright ©2013 by the corresponding authors. Published by the American Institute of Aeronautics and Astronautics, Inc., with permission. en_US
dc.description DOI: 10.2514/1.59512
dc.description.abstract The navigation of a small unmanned aerial vehicle is challenging due to a large influence of wind to its kinematics. When the kinematic model is reduced to two dimensions, it has the form of the Dubins kinematic vehicle model. Consequently, this paper addresses the problem of minimizing the expected time required to drive a Dubins vehicle to a prescribed target set in the presence of a stochastically varying wind. First, two analytically-derived control laws are presented. One control law does not consider the presence of the wind, whereas the other assumes that the wind is constant and known a priori. In the latter case it is assumed that the prevailing wind is equal to its mean value; no information about the variations of the wind speed and direction is available. Next, by employing numerical techniques from stochastic optimal control, feedback control strategies are computed. These anticipate the stochastic variation of the wind and drive the vehicle to its target set while minimizing the expected time of arrival. The analysis and numerical simulations show that the analytically-derived deterministic optimal control for this problem captures, in many cases, the salient features of the optimal feedback control for the stochastic wind model, providing support for the use of the former in the presence of light winds. On the other hand, the controllers anticipating the stochastic wind variation lead to more robust and more predictable trajectories than the ones obtained using feedback controllers for deterministic wind models. en_US
dc.embargo.terms null en_US
dc.identifier.citation Anderson, R., Bakolas, E., Milutinovic, D., and Tsiotras, P., "Optimal Feedback Guidance of a Small Aerial Vehicle in a Stochastic Wind,'' AIAA Journal of Guidance, Control, and Dynamics, Vol. 36, No. 4, 2013, pp. 975-985. en_US
dc.identifier.doi 10.2514/1.59512
dc.identifier.eissn 1533-3884
dc.identifier.issn 0731-5090 (Print)
dc.identifier.issn 1533-3884 (Online)
dc.identifier.uri http://hdl.handle.net/1853/51302
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original American Institute of Aeronautics and Astronautics
dc.subject Control law en_US
dc.subject Guidance en_US
dc.subject Navigation en_US
dc.subject Optimal control en_US
dc.subject Stochastic en_US
dc.subject Unmanned aerial vehicle en_US
dc.subject Wind en_US
dc.title Optimal Feedback Guidance of a Small Aerial Vehicle in the Presence of Stochastic Wind en_US
dc.title.alternative Optimal Feedback Guidance of a Small Aerial Vehicle in a Stochastic Wind en_US
dc.type Text
dc.type.genre Article
dc.type.genre Pre-print
dspace.entity.type Publication
local.contributor.author Tsiotras, Panagiotis
local.contributor.corporatename Unmanned Aerial Vehicle Research Facility
relation.isAuthorOfPublication bd4969ec-a869-452f-81f1-9f2dc8118b3c
relation.isOrgUnitOfPublication 5a379df1-c9ee-4bc9-a46e-9969e0eda2b1
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