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U of M College of Engineering Control Seminar Series Sponsored by Eaton, Ford, General Motors, and Whirlpool |
Software-enabled Receding Horizon Control for
Autonomous
UAV Guidance
Professor Gary Balas
Control Science and Dynamical Systems Program
Aerospace Engineering and Mechanics
University of Minnesota
Minneapolis MN 55455
Abstract:
Today,
the role of a control algorithm is evolving from a static design synthesized off-line to dynamic
algorithms that adapt in real-time
to changes in the controlled system and its environment. The paradigm for control system design
and implementation is also shifting from a centralized, single processor
framework to a decentralized, distributed processor implementation framework,
operating on geographically separate components. Correspondingly communication
and resource allocation within a distributed, decentralized environment become
significant issues. Hence software
and its interact with the controlled system will play a significantly larger
role in the control of emerging real-time systems which was the basis for the
DARPA Software Enabled Control (SEC) program. This talk describes autonomous uninhabited vehicle (UAV)
guidance technologies developed and demonstrated by the University of Minnesota
researchers on the DARPA SEC fixed wing flight test. The flight experiment took
place in June 2004 using a Boeing UAV testbed and demonstrated important
autonomy capabilities enabled by a receding horizon guidance controller and
fault detection filter.
3:30 – 4:30 p.m.