Journal ArticleDOI
An application of generalized predictive control to rotorcraft terrain-following flight
Ronald A. Hess,Y.C. Jung +1 more
- Vol. 19, Iss: 5, pp 955-962
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TLDR
The GPC algorithm is applied to simultaneous terrain following and velocity control in the presence of atmospheric disturbances and errors in the internal model of the vehicle.Abstract:
Generalized predictive control (GPC) describes an algorithm for the control of dynamic systems in which a control input is generated which minimizes a quadratic cost function consisting of a weighted sum of errors between desired and predicted future system output and future predicted control increments. The output predictions are obtained from an internal model of the plant dynamics. The GPC algorithm is first applied to a simplified rotorcraft terrain-following problem, and GPC performance is compared to that of a conventional compensatory automatic system in terms of flight-path following, control activity and control law implementation. Next, more realistic vehicle dynamics are utilized and the GPC algorithm is applied to simultaneous terrain following and velocity control in the presence of atmospheric disturbances and errors in the internal model of the vehicle. The online computational and sensing requirements for implementing the GPC algorithm are minimal. Its use for manual control models appears promising. >read more
Citations
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An autonomous vision-guided helicopter
TL;DR: This dissertation addresses issues by developing a "visual odometer" for helicopter position estimation, a real-time and low latency vision machine architecture to implement an on-board visual odometer machine, and an array of innovative indoor testbeds for calibrated experimentation to design, build and demonstrate an airworthy vision-guided autonomous helicopter.
Proceedings ArticleDOI
Predictive path tracking of mobile robots. Application to the CMU NavLab
Anibal Ollero,O. Amidi +1 more
TL;DR: In this paper, the authors presented a new path tracking method and its application to an autonomous vehicle, the NavLab (road-worthy truck modified for research in outdoor navigation), applying predictive control theory to obtain the appropriated steering angle taking into account the vehicle velocity.
Journal ArticleDOI
Radar-assisted collision avoidance/guidance strategy for planar flight
B. Ajith Kumar,Debasish Ghose +1 more
TL;DR: In this paper, a radar-assisted collision avoidance/guidance strategy (RACAGS) for low altitude missions is proposed, where the task of obstacle avoidance and guidance are integrated in a single collision avoidance strategy.
Journal ArticleDOI
Optimal aircraft terrain-following analysis and trajectory generation
Ping Lu,Bion L. Pierson +1 more
TL;DR: The analysis of an aircraft terrain-following problem and a numerical method for the optimal trajectory generation are the subjects of this paper.
Journal ArticleDOI
Review and Comparison of Path Tracking Based on Model Predictive Control
TL;DR: In this article, the authors compared the performance of four MPC-based path tracking controllers, namely linear model predictive control (LMPC), linear error model predictive Control (LEMPC), nonlinear model predictive controller (NMPC), and nonlinear error model prediction control (NEMPC), for the same mobile robot.
References
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Journal ArticleDOI
Generalized predictive control—Part I. The basic algorithm
TL;DR: A novel method—generalized predictive control or GPC—is developed which is shown by simulation studies to be superior to accepted techniques such as generalized minimum-variance and pole-placement and to be a contender for general self-tuning applications.
Journal ArticleDOI
Paper: Model predictive heuristic control
TL;DR: In this paper, a new method of digital process control is described, which relies on three principles: 1) the multivariable plant is represented by its impulse responses which will be used on line by the control computer for long range prediction; 2) the behavior of the closed-loop system is prescribed by means of reference trajectories initiated on the actual outputs; 3) the control variables are computed in a heuristic way with the same procedure used in identification, which appears as a dual of the control under this formulation.
Journal ArticleDOI
Model algorithmic control (MAC); basic theoretical properties
R. Rouhani,Raman K. Mehra +1 more
TL;DR: A close link is established between the stability and closed loop properties of optimizing type and feedback type of control laws and the performance 'measures' of robustness of such systems are proposed.
Journal ArticleDOI
Three Models of Preview Control
TL;DR: A means to describe and eventually to predict the response of a human or artificially intelligent controller which has a constrained preview of the actual input course and which observes the successive target values as being of nonuniform importance is discussed.
Proceedings ArticleDOI
Considerations for Automated Nap-of-the-Earth Rotorcraft Flight
TL;DR: This paper identifies obstacle detection and obstacle avoidance as the two critical components requiring substantial advancement before an automatic guidance system can be realized, and discusses the major sources of difficulties in developing these two components.