Guidance and control of flying vehicle by explicit model predictive controller
محورهای موضوعی : Mechanical Engineeringmohammad mahdi soori 1 , Hosein Sadati 2
1 - Department of Mechanical Engineering K. N. Toosi University of Technology
2 - Department of Mechanical Engineering K. N. Toosi University of Technology
کلید واژه: flying vehicle, target, integrated guidance and control, model predictive control, optimization,
چکیده مقاله :
The integrated guidance and control (IGC) system offers a significant advantage by leveraging the synergy between guidance and control subsystems to enhance the overall performance of flying vehicles. In the context of air defense missile systems, where speed is critical for intercepting fast-moving targets, this paper introduces a novel approach for designing and implementing an explicit linear model predictive controller (MPC) specifically tailored for three-dimensional scenarios. The proposed controller is developed to minimize the time to collision and miss distance by fully exploiting the interactions within the IGC framework, significantly enhancing the response time and speed, making it suitable for high-speed air defense applications. A key innovation of this work lies in the adoption of the explicit MPC approach, where the optimization problem is solved offline for all potential state vector values. The optimal control commands are formulated as explicit functions of the state variables and stored in memory. During real-time operation, the controller rapidly evaluates these precomputed functions to generate control commands, eliminating the need for computationally expensive online optimizations. This design significantly reduces the computational load, making it particularly suitable for hardware with limited processing capacity. Simulation results validate the superior performance of the proposed explicit MPC compared to conventional PID and LQR controllers. Specifically, the IGC system employing the proposed controller demonstrated a marked reduction in both miss distance and time to collision. These findings underscore the effectiveness and practicality of the explicit MPC in improving the precision, speed, and efficiency of guidance and control for advanced flying vehicles, particularly in air defense missile systems.
The integrated guidance and control (IGC) system offers a significant advantage by leveraging the synergy between guidance and control subsystems to enhance the overall performance of flying vehicles. In the context of air defense missile systems, where speed is critical for intercepting fast-moving targets, this paper introduces a novel approach for designing and implementing an explicit linear model predictive controller (MPC) specifically tailored for three-dimensional scenarios. The proposed controller is developed to minimize the time to collision and miss distance by fully exploiting the interactions within the IGC framework, significantly enhancing the response time and speed, making it suitable for high-speed air defense applications. A key innovation of this work lies in the adoption of the explicit MPC approach, where the optimization problem is solved offline for all potential state vector values. The optimal control commands are formulated as explicit functions of the state variables and stored in memory. During real-time operation, the controller rapidly evaluates these precomputed functions to generate control commands, eliminating the need for computationally expensive online optimizations. This design significantly reduces the computational load, making it particularly suitable for hardware with limited processing capacity. Simulation results validate the superior performance of the proposed explicit MPC compared to conventional PID and LQR controllers. Specifically, the IGC system employing the proposed controller demonstrated a marked reduction in both miss distance and time to collision. These findings underscore the effectiveness and practicality of the explicit MPC in improving the precision, speed, and efficiency of guidance and control for advanced flying vehicles, particularly in air defense missile systems.
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