Comparative Study of Optimal Multivariable LQR and MPC Controllers for Unmanned Combat Air Systems in Trajectory Tracking

[EN] Guidance, navigation, and control system design is, undoubtedly, one of the most relevant issues in any type of unmanned aerial vehicle, especially in the case of military missions. This task needs to be performed in the most efficient way possible, which involves trying to satisfy a set of req...

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Detalles Bibliográficos
Autores: Ortiz, Alvaro, Garcia-Nieto, Sergio|||0000-0002-2722-742X, Simarro Fernández, Raúl|||0000-0002-7311-2025
Tipo de recurso: artículo
Fecha de publicación:2021
País:España
Institución:Universitat Politècnica de València (UPV)
Repositorio:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
Idioma:inglés
OAI Identifier:oai:riunet.upv.es:10251/187296
Acceso en línea:https://riunet.upv.es/handle/10251/187296
Access Level:acceso abierto
Palabra clave:Unmanned aerial vehicles (UAVs)
Algorithm
UAV control
Tracking
Octree
Mapping
Sensors and actuators in UAVs
Path planning
Rectangloid
Trajectory
INGENIERIA DE SISTEMAS Y AUTOMATICA
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network_acronym_str ES
network_name_str España
repository_id_str
spelling Comparative Study of Optimal Multivariable LQR and MPC Controllers for Unmanned Combat Air Systems in Trajectory TrackingOrtiz, AlvaroGarcia-Nieto, Sergio|||0000-0002-2722-742XSimarro Fernández, Raúl|||0000-0002-7311-2025Unmanned aerial vehicles (UAVs)AlgorithmUAV controlTrackingOctreeMappingSensors and actuators in UAVsPath planningRectangloidTrajectoryINGENIERIA DE SISTEMAS Y AUTOMATICA[EN] Guidance, navigation, and control system design is, undoubtedly, one of the most relevant issues in any type of unmanned aerial vehicle, especially in the case of military missions. This task needs to be performed in the most efficient way possible, which involves trying to satisfy a set of requirements that are sometimes in opposition. The purpose of this article was to compare two different control strategies in conjunction with a path-planning and guidance system with the objective of completing military missions in the most satisfactory way. For this purpose, a novel dynamic trajectory-planning algorithm is employed, which can obtain an appropriate trajectory by analyzing the environment as a discrete 3D adaptive mesh and performs a softening process a posteriori. Moreover, two multivariable control techniques are proposed, i.e., the linear quadratic regulator and the model predictive control, which were designed to offer optimal responses in terms of stability and robustness.This work was partially funded by project RTI2018-096904-B-I00 from the Spanish Ministry of Economy and by project AICO/2019/055 from Generalitat Valenciana.MDPI AGDepartamento de Ingeniería de Sistemas y AutomáticaEscuela Técnica Superior de Ingeniería Aeroespacial y Diseño IndustrialInstituto Universitario de Automática e Informática IndustrialEscuela Técnica Superior de Ingeniería IndustrialGeneralitat ValencianaAGENCIA ESTATAL DE INVESTIGACIONRepositorio Institucional de la Universitat Politècnica de València Riunet20212021-02-01journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfhttps://riunet.upv.es/handle/10251/187296reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valénciainstname:Universitat Politècnica de València (UPV)InglésengGeneralitat Valenciana https://doi.org/10.13039/501100003359 AICO%2F2019%2F055 Herramientas avanzadas para la obtención y análisis de soluciones en problemas de optimización multiobjetivoAgencia Estatal de Investigación http://dx.doi.org/10.13039/501100011033 RTI2018-096904-B-I00-AR HERRAMIENTAS DE OPTIMIZACION MULTIOBJETIVO PARA LA CARACTERIZACION Y ANALISIS DE CONCEPTOS DE DISEÑO Y SOLUCIONES SUB-OPTIMAS EFICIENTES EN PROBLEMAS DE INGENIERIA DE SISTEMASopen accesshttp://purl.org/coar/access_right/c_abf2Reconocimiento (by)http://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/openAccessoai:riunet.upv.es:10251/1872962026-06-13T07:49:27Z
dc.title.none.fl_str_mv Comparative Study of Optimal Multivariable LQR and MPC Controllers for Unmanned Combat Air Systems in Trajectory Tracking
title Comparative Study of Optimal Multivariable LQR and MPC Controllers for Unmanned Combat Air Systems in Trajectory Tracking
spellingShingle Comparative Study of Optimal Multivariable LQR and MPC Controllers for Unmanned Combat Air Systems in Trajectory Tracking
Ortiz, Alvaro
Unmanned aerial vehicles (UAVs)
Algorithm
UAV control
Tracking
Octree
Mapping
Sensors and actuators in UAVs
Path planning
Rectangloid
Trajectory
INGENIERIA DE SISTEMAS Y AUTOMATICA
title_short Comparative Study of Optimal Multivariable LQR and MPC Controllers for Unmanned Combat Air Systems in Trajectory Tracking
title_full Comparative Study of Optimal Multivariable LQR and MPC Controllers for Unmanned Combat Air Systems in Trajectory Tracking
title_fullStr Comparative Study of Optimal Multivariable LQR and MPC Controllers for Unmanned Combat Air Systems in Trajectory Tracking
title_full_unstemmed Comparative Study of Optimal Multivariable LQR and MPC Controllers for Unmanned Combat Air Systems in Trajectory Tracking
title_sort Comparative Study of Optimal Multivariable LQR and MPC Controllers for Unmanned Combat Air Systems in Trajectory Tracking
dc.creator.none.fl_str_mv Ortiz, Alvaro
Garcia-Nieto, Sergio|||0000-0002-2722-742X
Simarro Fernández, Raúl|||0000-0002-7311-2025
author Ortiz, Alvaro
author_facet Ortiz, Alvaro
Garcia-Nieto, Sergio|||0000-0002-2722-742X
Simarro Fernández, Raúl|||0000-0002-7311-2025
author_role author
author2 Garcia-Nieto, Sergio|||0000-0002-2722-742X
Simarro Fernández, Raúl|||0000-0002-7311-2025
author2_role author
author
dc.contributor.none.fl_str_mv Departamento de Ingeniería de Sistemas y Automática
Escuela Técnica Superior de Ingeniería Aeroespacial y Diseño Industrial
Instituto Universitario de Automática e Informática Industrial
Escuela Técnica Superior de Ingeniería Industrial
Generalitat Valenciana
AGENCIA ESTATAL DE INVESTIGACION
Repositorio Institucional de la Universitat Politècnica de València Riunet
dc.subject.none.fl_str_mv Unmanned aerial vehicles (UAVs)
Algorithm
UAV control
Tracking
Octree
Mapping
Sensors and actuators in UAVs
Path planning
Rectangloid
Trajectory
INGENIERIA DE SISTEMAS Y AUTOMATICA
topic Unmanned aerial vehicles (UAVs)
Algorithm
UAV control
Tracking
Octree
Mapping
Sensors and actuators in UAVs
Path planning
Rectangloid
Trajectory
INGENIERIA DE SISTEMAS Y AUTOMATICA
description [EN] Guidance, navigation, and control system design is, undoubtedly, one of the most relevant issues in any type of unmanned aerial vehicle, especially in the case of military missions. This task needs to be performed in the most efficient way possible, which involves trying to satisfy a set of requirements that are sometimes in opposition. The purpose of this article was to compare two different control strategies in conjunction with a path-planning and guidance system with the objective of completing military missions in the most satisfactory way. For this purpose, a novel dynamic trajectory-planning algorithm is employed, which can obtain an appropriate trajectory by analyzing the environment as a discrete 3D adaptive mesh and performs a softening process a posteriori. Moreover, two multivariable control techniques are proposed, i.e., the linear quadratic regulator and the model predictive control, which were designed to offer optimal responses in terms of stability and robustness.
publishDate 2021
dc.date.none.fl_str_mv 2021
2021-02-01
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://riunet.upv.es/handle/10251/187296
url https://riunet.upv.es/handle/10251/187296
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv Generalitat Valenciana https://doi.org/10.13039/501100003359 AICO%2F2019%2F055 Herramientas avanzadas para la obtención y análisis de soluciones en problemas de optimización multiobjetivo
Agencia Estatal de Investigación http://dx.doi.org/10.13039/501100011033 RTI2018-096904-B-I00-AR HERRAMIENTAS DE OPTIMIZACION MULTIOBJETIVO PARA LA CARACTERIZACION Y ANALISIS DE CONCEPTOS DE DISEÑO Y SOLUCIONES SUB-OPTIMAS EFICIENTES EN PROBLEMAS DE INGENIERIA DE SISTEMAS
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reconocimiento (by)
http://creativecommons.org/licenses/by/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reconocimiento (by)
http://creativecommons.org/licenses/by/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv MDPI AG
publisher.none.fl_str_mv MDPI AG
dc.source.none.fl_str_mv reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
instname:Universitat Politècnica de València (UPV)
instname_str Universitat Politècnica de València (UPV)
reponame_str RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
collection RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.300719

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