TY - GEN
T1 - Dynamic soaring in unspecified wind shear
T2 - 27th Mediterranean Conference on Control and Automation, MED 2019
AU - Hong, Haichao
AU - Zheng, Huixin
AU - Holzapfel, Florian
AU - Tang, Shengjing
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - For realizing the autonomous dynamic soaring maneuver without relying on known wind shear profiles, this paper develops a real-time trajectory correction approach. The strategy is inspired by the fact that large seabirds do not know the wind profile and yet they presumably can feel the wind variations and predict their own motions. Utilizing only the instant wind information rather than the complete profile, this approach formulates a strictly convex quadratic programming problem based on the instant wind strength increment and the predicted errors to determine bounded control inputs. Initialized by an energy-neutral dynamic soaring trajectory that requires the minimum wind strength, control inputs can be corrected in real time. Simulation results demonstrate the effectiveness of the proposed approach under different unspecified wind profiles.
AB - For realizing the autonomous dynamic soaring maneuver without relying on known wind shear profiles, this paper develops a real-time trajectory correction approach. The strategy is inspired by the fact that large seabirds do not know the wind profile and yet they presumably can feel the wind variations and predict their own motions. Utilizing only the instant wind information rather than the complete profile, this approach formulates a strictly convex quadratic programming problem based on the instant wind strength increment and the predicted errors to determine bounded control inputs. Initialized by an energy-neutral dynamic soaring trajectory that requires the minimum wind strength, control inputs can be corrected in real time. Simulation results demonstrate the effectiveness of the proposed approach under different unspecified wind profiles.
UR - http://www.scopus.com/inward/record.url?scp=85071683935&partnerID=8YFLogxK
U2 - 10.1109/MED.2019.8798573
DO - 10.1109/MED.2019.8798573
M3 - Conference contribution
AN - SCOPUS:85071683935
T3 - 27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings
SP - 600
EP - 605
BT - 27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 1 July 2019 through 4 July 2019
ER -