Minimal time synthesis for a kinematic drone model

DOI10.3934/MCRF.2017009MaRDI QIDQ524828zbMATH OpenOpenAlexFDO

Authors Marc-Aurèle Lagache, Ulysse Serres, Vincent Andrieu

Publication date 26 April 2017

Published in Mathematical Control and Related Fields (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1711.08601

zbMATH Keywords

feedback stabilizationoptimal controlnonlinear control systemsoptimal synthesisPontryagin maximum principle

Mathematics Subject Classification ID

Global stability of solutions to ordinary differential equations (34D23) Control problems involving ordinary differential equations (34H05) Existence theories for optimal control problems involving ordinary differential equations (49J15) Optimality conditions for problems involving ordinary differential equations (49K15) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Stabilization of systems by feedback (93D15)

Abstract: In this paper, we consider a (rough) kinematic model for a UAV flying at constant altitude moving forward with positive lower and upper bounded linear velocities and positive minimum turning radius.For this model, we consider the problem of minimizing the time travelled by the UAV starting from a general configuration to connect a specified target being a fixed circle of minimum turning radius.The time-optimal synthesis is presented as a partition of the state space which defines a unique optimal path such that the target can be reached optimally.

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Cites work

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Cited in

(2)

• Lyapunov and minimum-time path planning for drones
• Time-optimal control problem with two final points for a kinematic model of an UAV

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