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Optimal predictive steering control for autonomous runway exits

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journal contribution
posted on 11.02.2021, 13:44 by Zexin Huang, Matthew Best, James Knowles
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.

History

School

  • Aeronautical, Automotive, Chemical and Materials Engineering

Department

  • Aeronautical and Automotive Engineering

Published in

Advances in Mechanical Engineering

Volume

12

Issue

12

Pages

1-17

Publisher

SAGE Publications

Version

VoR (Version of Record)

Rights holder

© The authors

Publisher statement

This is an Open Access Article. It is published by Sage under the Creative Commons Attribution 4.0 Unported Licence (CC BY). Full details of this licence are available at: http://creativecommons.org/licenses/by/4.0/

Acceptance date

11/11/2020

Publication date

2020-12-09

Copyright date

2020

ISSN

1687-8140

eISSN

1687-8140

Language

en

Depositor

Mr Zexin Huang Deposit date: 9 February 2021

Usage metrics

Loughborough Publications

Licence

Exports