Optimal trajectory tracking using an output feedback preview controller

Waypoint tracking of unmanned aerial vehicles using robust H<SUB align= �right �>2 / H<SUB align= �right �>? controller

“…A tracking error of just 20m is reported for a preview length of 1.6km with 600 preview points and a nominal speed of 272 m/s. Farooq et al [15] extend this work to the output feedback case. Li et al [16] consider another full information longitudinal guidance problem, where the authors design an optimal version of the preview controller to track the reference trajectory.…”

“…In this section, the methodology of designing an optimal preview controller, which has found more popularity recently in the control of flying vehicles in terrain following flight, is briefly reviewed [12][13][14][15][16][17][18][19][20][21]. Then, the results will be compared with results of the proposed robust controller.…”

Design of optimal length preview controller

“…The application areas of preview control are motivating researchers to find direct design and implementation strategies for it. The applications include guidance of autonomous vehicles, as presented by authors (Farooq and Limebeer, 2005;Farooq et al, 2006;Paulino et al, 2009;Sharp et al, 2000;Tomizuka, 1976;Bender, 1968), robotics (Kadakkal and Cook, 2008) and process control, as discussed by researchers in their work (Marzbanrad et al, 2004;Egami and Tsuchiya, 1995;Mianzo and Peng, 2007;Negm et al, 2006). The classical solution of preview control problem is given using H1 control and state augmentation, solved using Algebraic Riccati equation, as it is compatible with optimal and robust control design techniques that minimize evaluation function through all period of time.…”