A Review on Motion Control of Unmanned Ground and Aerial Vehicles Based on Model Predictive Control Techniques
Year: 2018
Type: review
Abstract: Recently, unmanned vehicles have attracted a great deal of attentionin academic, civilian and military communities as prospectivesolutions to a wide variety of applications. With this growinginterest, there has been a great development of unmanned systemscontrol techniques. One of the promising approaches in the field ofunmanned systems is model predictive control (MPC) due to itsability to handle the multi-variable constrained systems. Therefore,the goal of this paper is to present a comprehensive literature ofapplying MPC for motion control of both unmanned groundvehicles (UGVs) and unmanned aerial vehicles (UAVs). First, anoverview of motion control principles is presented. Next, anoverview of MPC including its concept, formulation, types, and itsstability is provided. Then, a comprehensive literature review ofapplying MPC to both UGVs and UAVs is introduced, including thebasic motion tasks such as path planning, point stabilization, andtrajectory tracking. Finally, open problems, challenges, and futuredirections are highlighted.
Authors: Mohamed A. Kamel, Ahmed Hafez, X. Yu
Institutions: Military Technical College, Concordia University
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: diamond
OpenAlex ID: W2794436665