A Review on Motion Control of Unmanned Ground and Aerial Vehicles Based on Model Predictive Control Techniques | ||||
Journal of Engineering Science and Military Technologies | ||||
Article 2, Volume 2, Issue 1, January 2018, Page 10-23 PDF (719.2 K) | ||||
Document Type: Review articles | ||||
View on SCiNiTO | ||||
Authors | ||||
Mohamed A. Kamel 1; Ahmed T. Hafez2; Xiang Yu3 | ||||
1Mechanical Engineering Department,Military Technical College, Cairo, Egypt | ||||
2Electrical Engineering Department, Military Technical College, Cairo, Egypt | ||||
3Mechanical and Industrial Engineering Department, Concordia University, Montr´al, Quebe´c | ||||
Abstract | ||||
Recently, unmanned vehicles have attracted a great deal of attention in academic, civilian and military communities as prospective solutions to a wide variety of applications. With this growing interest, there has been a great development of unmanned systems control techniques. One of the promising approaches in the field of unmanned systems is model predictive control (MPC) due to its ability to handle the multi-variable constrained systems. Therefore, the goal of this paper is to present a comprehensive literature of applying MPC for motion control of both unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs). First, an overview of motion control principles is presented. Next, an overview of MPC including its concept, formulation, types, and its stability is provided. Then, a comprehensive literature review of applying MPC to both UGVs and UAVs is introduced, including the basic motion tasks such as path planning, point stabilization, and trajectory tracking. Finally, open problems, challenges, and future directions are highlighted. | ||||
Keywords | ||||
Model predictive control (MPC); motion control; path following; trajectory tracking; unmanned aerial vehicles (UAVs); unmanned ground vehicles (UGVs) | ||||
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