Optimal Predictive Steering Control for Aircraft Ground Path Following

Huang, Zexin; Best, Matt C.; Knowles, James A.

doi:10.1109/iccais.2018.8570339

Cited by 1 publication

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“…At any transient state, the specific feedback gain is obtained by interpolation using lateral acceleration as the measurement. Building on previous work, 13 the proposed controller is validated at various forward speeds in runway exit manoeuvres, in the presence of parameter and state disturbances.…”

Section: Introductionmentioning

confidence: 99%

Optimal predictive steering control for autonomous runway exits

Huang

Best

Knowles

2020

Advances in Mechanical Engineering

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In this paper, we present a real-time optimal controller, Predictive Steering Control (PSC), to perform high-speed runway exit manoeuvres. PSC is developed based on a time-varying LQR with look-ahead. The aircraft’s ground dynamics are described by a high-fidelity nonlinear model. The proposed controller is compared with an Expert Pilot Model (EPM), which represents a pilot, in several different speed runway exit manoeuvres. With an improved road preview mechanism and optimal feedback gain, the predictive steering controller outperforms the expert pilot’s manual operations by executing the runway exit manoeuvre with a lower track error. To investigate the optimality of PSC, its solution is further optimised using a numerical optimal controller Generalized Optimal Control (GOC). PSC is shown to be close to the final optimal solution. To study robustness, PSC is tested with various aircraft configurations, road conditions and disturbances. The simulation results show that PSC is robust to disturbances within a normal range of operational parameters.

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Section: Introductionmentioning

confidence: 99%