2 results
Now showing1 - 2 of 2
- Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: with files , A qLMPC framework for path-following control of fixed-wing UAVsThis thesis presents a novel predictive path-following control scheme for fixed-wing UAVs, addressing limitations in the existing literature. While geometric methods struggle with variable winds and predictive strategies tend to be computationally intensive, the qLPV approach proposed here strikes a balance—accurately capturing the system dynamics while maintaining computational efficiency through the use of Quadratic Programs (QPs). The practicability of the approach is demonstrated by applying it to a high-fidelity model of the ULTRA-Extra UAV. Constructing qLPV representations is not unique; in this work, velocity-based linearization is employed, which is known to be well-suited for controller design. It is also compatible with offset-free Model Predictive Control (MPC) and enables efficient disturbance rejection. The proposed framework is further extended to obstacle avoidance by representing obstacles as qLPV constraints.Publicationtype: Doctoral Thesis65 45 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: with files , Multiskalensimulation von mechatronischen Komponenten zur Anwendung in Hardware-in-the-Loop Tests(2021); Due to more and more complex electronic control units in automobiles, the need for appropriate test capabilities is increasing. In this work a concept is developed, which meets the highly dynamic requirements due to the automotive devices. This is achieved with a parallel heterogeneous simulation architecture, where the different frequency components of the input signal are simulated in parallel on different hardware. Additionally, easy to parameterize generic models are developed. With an exemplary implementation a step size of 385 ns and a good agreement with real measurement data is achieved.Publicationtype: Doctoral Thesis320 715