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Real-time Trajectory Optimization for Terrain Following Based on Non-linear Model Predictive Control
Linköping University, Department of Electrical Engineering.
2001 (English)Independent thesis Basic level (professional degree)Student thesisAlternative title
Trajektorieoptimering för terrängföljning i realtid baserad på olinjär prediktionsreglering (Swedish)
Abstract [en]

There are occasions when it is preferable that an aircraft flies asclose to the ground as possible. It is difficult for a pilot to predict the topography when he cannot see beyond the next hill, and this makes it hard for him to find the optimal flight trajectory. With the help of a terrain database in the aircraft, the forthcoming topography can be found in advance and a flight trajectory can be calculated in real-time. The main goal is to find an optimal control sequence to be used by the autopilot. The optimization algorithm, which is created for finding the optimal control sequence, has to be run often and therefore, it has to be fast.

This thesis presents a terrain following algorithm based on Model Predictive Control which is a promising and robust way of solving the optimization problem. By using trajectory optimization, a trajectory which follows the terrain very good is found for the non-linear model of the aircraft.

Place, publisher, year, edition, pages
Institutionen för systemteknik , 2001. , 60 p.
Series
LiTH-ISY-Ex, 3208
Keyword [en]
Reglerteknik, Model Predrictive Control, MPC, Non-linear Systems, Terrain Following, Trajectory Optimization
Keyword [sv]
Reglerteknik
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-1136OAI: oai:DiVA.org:liu-1136DiVA: diva2:17767
Uppsok
teknik
Available from: 2002-04-23 Created: 2002-04-23

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf