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A Model Predictive Differential Game Guidance Algorithm for Precise Trajectory Tracking of a Fixed Wing UAV

Asghari, Javad | 2021

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 53934 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Nobahari, Hadi
  7. Abstract:
  8. This research presents three new guidance laws for trajectory tracking of an unmanned aerial vehicle in the presence of wind disturbances. The first method is a linear combination of line-of-sight and velocity-pursuit guidance laws, the parameters of which are tuned using a fuzzy system in an online manner. The second method is an adaptive optimal guidance law based on the differential game theory. The third method (main method) is a model predictive guidance law based on the differential game theory. In the main method, linear point mass equations of motion are used to predict the future path of the vehicle. Also, the linear model predictive control is used to achieve an optimal analytical solution with low run-time. In this research, the wind is unknown. In the main method of this research, the wind is considered as a second actor and at each moment, the optimal value of the control signal in the presence of the second actor is calculated in such a way that the tracking error in the prediction horizon is minimized
  9. Keywords:
  10. Unmanned Aerial Vehicles (UAV) ; Trajectory Tracking Control ; Predictive Functional Control ; Adaptive Optimal Differential Game Guidance Law (AOGL) ; Predictive Functional Control Differential Game Guidance Law ; Fuzzy PLOS Guidance Law ; Fixed Wing Unmanned Aerial Vehicles (UAV)

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