Precision Control of High-speed Autonomous Vehicles under High Disturbances

Corvid and UNCC propose to extend the theoretical and simulation results obtained in Phase I of this topic to demonstrate the technology on flight hardware in both single and multiple, cooperative vehicle flights. We will further analyze the theoretical results analyzed in Phase I for the high speed and robust control of UAVs in complex flight environments with many disturbances, and we will also develop proofs for the stability of the control algorithms. Simulation of the control and perception sensors and algorithms will be continuously verified and validated via high speed flight testing in indoor and outdoor environments with wind field perturbations. Several flight demonstrations will be conducted that validate the increased resilience of our control algorithms, through feedback and predictive controllers enabled with the novel sensor suite that we recommend.