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optimal control based coordinated taxiing path planning and tracking for multiple carrier aircraft on flight deck

Defence Technology（防务技术） 2022年第2期18卷 238-248页

作者： Xin-wei Wang Hai-jun Peng Jie Liu Xian-zhou Dong Xu-dong Zhao Chen Lu Department of Engineering Mechanics State Key Laboratory of Structural Analysis for Industrial EquipmentDalian University of TechnologyDalianLiaoning116024China Faculty of Electronic Information and Electrical Engineering Dalian University of TechnologyDalianLiaoning116024China War Research Institute Academy of Military SciencesBeijing100850China School of Reliability and Systems Engineering Beihang UniversityXueyuan RoadHaidian DistrictBeijing100191China

Coordinated taxiing planning for multiple aircraft on flight deck is of vital importance which can dramatically improve the dispatching *** this paper,first,the coordinated taxiing path planning problem is transformed into a centralized optimal control problem where collision-free conditions and mechanical limits are *** the formulated optimal control problem is of large state space and highly nonlinear,an efficient hierarchical initialization technique based on the Dubins-curve method is ***,a model predictive controller is designed to track the obtained reference trajectory in the presence of initial state error and external *** experiments demonstrate that the proposed“offline planningþonline tracking”framework can achieve efficient and robust coordinated taxiing planning and tracking even in the presence of initial state error and continuous external disturbances.

关键词： Carrier aircraft Coordinated path planning centralized optimal control Trajectory tracking Model predictive control

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Distributed Design of Approximately optimal controller for Identical Discrete-Time Multi-Agent Systems

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Journal of Systems Science & Complexity 2016年第3期29卷 629-641页

作者： ZHANG Fangfang WANG Wei ZHANG Huanshui School of Electrical Engineering Zhengzhou University School of control Science and Engineering Shandong University

This paper considers the distributed control of the LQR problem for discrete-time multiagent *** controllers are designed based on the solutions of centralized optimal control and the topological structure of the *** mild conditions,it is shown that the distributed controller can approximate to the centralized optimal *** the states of the closed-loop systems of the distributed control exponentially converge to the states of the closed-loop systems of the centralized optimal *** examples are given to show effectiveness of the proposed results.

关键词： Approximately optimal controller centralized optimal control distributed controller multi-agent systems.

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