Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | AIAA Guidance, Navigation, and Control Conference 2011 |
| Publikationsstatus | Veröffentlicht - 2011 |
| Extern publiziert | Ja |
| Veranstaltung | AIAA Guidance, Navigation and Control Conference 2011 - Portland, OR, USA / Vereinigte Staaten Dauer: 8 Aug. 2011 → 11 Aug. 2011 |
Publikationsreihe
| 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 Sachgebiete
- Ingenieurwesen (insg.)
- Luft- und Raumfahrttechnik
- Ingenieurwesen (insg.)
- Steuerungs- und Systemtechnik
- Ingenieurwesen (insg.)
- Elektrotechnik und Elektronik
Zitieren
- Standard
- Harvard
- Apa
- Vancouver
- BibTex
- RIS
AIAA Guidance, Navigation, and Control Conference 2011. 2011. (AIAA Guidance, Navigation, and Control Conference 2011).
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › 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 -