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Title:

Efficient Convolution-Based Representation of Smooth Reference Trajectories for Urban Air Mobility

Document type:
Zeitschriftenaufsatz
Author(s):
Schweighofer, Felix; Krammer, Christoph; Hong, Haichao; Holzapfel, Florian
Abstract:
Accurate trajectory-following control using dynamic inversion controllers requires suitable parameterizations of reference trajectories, such as energy-minimal flight paths generated with optimal control methods. These trajectory representations must enable efficient onboard storage and real-time evaluation while ensuring sufficient accuracy and smoothness to provide the required feedforward commands. We explore trajectory parameterizations based on the convolution of a piecewise low-order polyn...     »
Journal title:
Journal of Guidance, Control, and Dynamics
Year:
2024
Fulltext / DOI:
doi:10.2514/1.G007909
Print-ISSN:
0731-5090
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