Details
| Original language | English |
|---|---|
| Title of host publication | AIAA Guidance, Navigation, and Control Conference 2011 |
| Publication status | Published - 2011 |
| Externally published | Yes |
| Event | AIAA Guidance, Navigation and Control Conference 2011 - Portland, OR, United States Duration: 8 Aug 2011 → 11 Aug 2011 |
Publication series
| Name | AIAA Guidance, Navigation, and Control Conference 2011 |
|---|
Abstract
In this paper the problem of automatic landing of a fixed-wing aircraft with constrained nonlinear model predictive control (NMPC) is addressed. A parallel computable NMPC scheme based on time-domain optimization is used that allows for implementation on Field Programmable Gate Arrays (FPGAs). It is shown how a nonlinear 3d kinematics model with two control inputs (roll and pitch rate) can be used as a plant model. The control inputs are quantized and discretized and for this case controllability and stability is analyzed. An interpolating NMPC scheme is introduced that allows to reach precisely a commanded final position and attitude. In this scheme, flight mechanical constraints and obstacles are considered. This enables automatic landing with a commanded reference point, runway heading, glide path angle, and wings level. Simulations with a nonlinear 6 degrees of freedom simulation model show the applicability of the approach. Realtime testbed results demonstrate the parallel implementability on a low-power and low-weight FPGA based onboard computer.
ASJC Scopus subject areas
- Engineering(all)
- Aerospace Engineering
- Engineering(all)
- Control and Systems Engineering
- Engineering(all)
- Electrical and Electronic Engineering
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AIAA Guidance, Navigation, and Control Conference 2011. 2011. (AIAA Guidance, Navigation, and Control Conference 2011).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Nonlinear predictive control based on time-domain simulation for automatic landing
AU - Joos, Alexander
AU - Müller, Matthias A.
AU - Baumgärtner, Daniel
AU - Fichter, Walter
AU - Allgöwer, Frank
PY - 2011
Y1 - 2011
N2 - In this paper the problem of automatic landing of a fixed-wing aircraft with constrained nonlinear model predictive control (NMPC) is addressed. A parallel computable NMPC scheme based on time-domain optimization is used that allows for implementation on Field Programmable Gate Arrays (FPGAs). It is shown how a nonlinear 3d kinematics model with two control inputs (roll and pitch rate) can be used as a plant model. The control inputs are quantized and discretized and for this case controllability and stability is analyzed. An interpolating NMPC scheme is introduced that allows to reach precisely a commanded final position and attitude. In this scheme, flight mechanical constraints and obstacles are considered. This enables automatic landing with a commanded reference point, runway heading, glide path angle, and wings level. Simulations with a nonlinear 6 degrees of freedom simulation model show the applicability of the approach. Realtime testbed results demonstrate the parallel implementability on a low-power and low-weight FPGA based onboard computer.
AB - In this paper the problem of automatic landing of a fixed-wing aircraft with constrained nonlinear model predictive control (NMPC) is addressed. A parallel computable NMPC scheme based on time-domain optimization is used that allows for implementation on Field Programmable Gate Arrays (FPGAs). It is shown how a nonlinear 3d kinematics model with two control inputs (roll and pitch rate) can be used as a plant model. The control inputs are quantized and discretized and for this case controllability and stability is analyzed. An interpolating NMPC scheme is introduced that allows to reach precisely a commanded final position and attitude. In this scheme, flight mechanical constraints and obstacles are considered. This enables automatic landing with a commanded reference point, runway heading, glide path angle, and wings level. Simulations with a nonlinear 6 degrees of freedom simulation model show the applicability of the approach. Realtime testbed results demonstrate the parallel implementability on a low-power and low-weight FPGA based onboard computer.
UR - http://www.scopus.com/inward/record.url?scp=84880626798&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84880626798
SN - 9781600869525
T3 - AIAA Guidance, Navigation, and Control Conference 2011
BT - AIAA Guidance, Navigation, and Control Conference 2011
T2 - AIAA Guidance, Navigation and Control Conference 2011
Y2 - 8 August 2011 through 11 August 2011
ER -