Automatic guidance of an aircraft using predictive control in a visual servoing scheme

Lumbar, Satja; Dolanč, Gregor; Vrečko, Darko; Strmĉnik, Stanko; Matko, Drago

doi:10.3182/20100906-5-jp-2022.00002

Cited by 4 publications

(3 citation statements)

References 8 publications

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“…The constrained MPCs which are based on the lateral and longitudinal linear models are designed and tested under three different conditions in terms of specifying unmeasured output (UO) and unmeasured output disturbance (UOD). The results of the simulations show that the proposed MPCs provide tracking of all outputs of linear and longitudinal linear models under specified test conditions, while altitude, airspeed and yaw angle (Lumbar et al, 2010), roll and pitch angles with their rates (Oettershagen et al, 2014), speed and pitch attitude (Liu et al, 2016) and roll angle (Kiyak, 2016) are tracked in other studies. In this paper, the proposed MPCs are used as controllers of the FWUAV for the same control objectives in terms of roll, pitch and yaw attitude, altitude and speed hold along with turn coordination.…”

Section: Introductionmentioning

confidence: 86%

PIL simulations of an FWUAV under windy conditions

Ülker

Baykara

Özsoy

2018

AEAT

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Purpose A fixed wing unmanned aerial vehicle (FWUAV) is targeted to perform processor in the loop (PIL) simulations for the flight scenarios such as straight and level, level climb, level turn, climbing turn and level steady heading sideslip under windy conditions such as steady wind (SW) and wind gust (WG) in a desired and controlled manner. Design/methodology/approach The constrained multi-input–multi-output (MIMO) lateral and longitudinal linear models-based model predictive controllers (MPCs) which are proposed in a previous study (Ulker et al., 2017) are tested in the PIL simulations under specified windy conditions. BeagleBone Black Rev C is used as a target hardware or processor in the PIL simulations. Findings The results of the PIL simulations show that the MPCs proposed in the previous study can achieve satisfactory performance and flying qualities for the all flight scenarios handled in this paper under windy conditions. Practical implications The MPCs proposed in the previous study can be easily implemented in the real world to a low-cost and small-sized board like BeagleBone Black Rev C which is used in this paper. Originality/value The proposed MPCs in the previous study which are capable of providing more flexibility in terms of tracking complex trajectories are showed to be able to be implemented to real system by means of PIL simulations under the changeable windy conditions which are difficult for performance tests.

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Section: Introductionmentioning

confidence: 86%

PIL simulations of an FWUAV under windy conditions

Ülker

Baykara

Özsoy

2018

AEAT

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“…Moreover, MPC is used for reference tracking in guidance and navigation applications. The MPCs proposed by Lumbar et al (2010) track altitude, airspeed and heading or yaw angle whereas the MPCs proposed by Oettershagen et al (2014) track roll and pitch angles with their rates. However, the MPCs proposed in this paper track all outputs of linear and longitudinal linear models, which will be explained in further sections.…”

Section: Introductionmentioning

confidence: 99%

Design of MPCs for a fixed wing UAV

Ülker

Baykara

Özsoy

2017

AEAT

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Purpose The purpose of the paper is to examine a fixed wing unmanned aerial vehicle (UAV) as it undergoes five flight scenarios under straight and level, level climb, level turn, climbing turn and level steady heading sideslip conditions in a desired and controlled manner using constrained multi input multi output (MIMO) model predictive controllers (MPCs). Design/methodology/approach An MPC strategy based on the lateral and longitudinal linear models is proposed for the flight control design. Simulations are carried out for the nonlinear closed-loop aircraft Simulink model available from the University of Minnesota UAV research group with the implemented MIMO MPCs designed in this paper. Findings The results of the simulations show that the MIMO MPCs can achieve satisfactory performance and flying qualities under three different test conditions in terms of existing unmeasured outputs and unmeasured output disturbances. Practical Implications The MPCs designed in this paper can be implemented to UAVs. Therefore, the implementation is considered as an advanced research. Originality/value The proposed MPC design in this paper provides more flexibility in terms of tracking complex trajectories comparing with the classical controllers in the literature. Besides they provide to change more than one reference of the states at any time.

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“…An extensive overview of the VS applications and methodology was given by Corke [1, 2], Chaumette and Hutchinson [3, 4], Kragic and Christensen [5], and Chang [6] etc. Visual servoing can be found in a variety of applications: cooperative movement of mobile soccer robots [7], navigation of autonomous mobile robots [8, 9], docking of autonomous water surface vehicles [10], helicopter and quadrocopter hovering and guidance [11–14], autonomous landing of aeroplanes [15–17], attitude control of satellites [18], grasping and movement of objects [19, 20], and keeping the relative view in a dynamic environment [21] etc.…”

Section: Introductionmentioning

confidence: 99%

Visual Trajectory-Tracking Model-Based Control for Mobile Robots

Zdešar

Škrjanc

Klančar

2013

International Journal of Advanced Robotic Systems

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In this paper we present a visual-control algorithm for driving a mobile robot along the reference trajectory. The configuration of the system consists of a two-wheeled differentially driven mobile robot that is observed by an overhead camera, which can be placed at arbitrary, but reasonable, inclination with respect to the ground plane. The controller must be capable of generating appropriate tangential and angular control velocities for the trajectory-tracking problem, based on the information received about the robot position obtained in the image. To be able to track the position of the robot through a sequence of images in real-time, the robot is marked with an artificial marker that can be distinguishably recognized by the image recognition subsystem. Using the property of differential flatness, a dynamic feedback compensator can be designed for the system, thereby extending the system into a linear form. The presented control algorithm for reference tracking combines a feedforward and a feedback loop, the structure also known as a two DOF control scheme. The feedforward part should drive the system to the vicinity of the reference trajectory and the feedback part should eliminate any errors that occur due to noise and other disturbances etc. The feedforward control can never achieve accurate reference following, but this deficiency can be eliminated with the introduction of the feedback loop. The design of the model predictive control is based on the linear error model. The model predictive control is given in analytical form, so the computational burden is kept at a reasonable level for real-time implementation. The control algorithm requires that a reference trajectory is at least twice differentiable function. A suitable approach to design such a trajectory is by exploiting some useful properties of the Bernstein-Bézier parametric curves. The simulation experiments as well as real system experiments on a robot normally used in the robot soccer small league prove the applicability of the presented control approach

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Automatic guidance of an aircraft using predictive control in a visual servoing scheme

Cited by 4 publications

References 8 publications

PIL simulations of an FWUAV under windy conditions

PIL simulations of an FWUAV under windy conditions

Design of MPCs for a fixed wing UAV

Visual Trajectory-Tracking Model-Based Control for Mobile Robots

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