On the Stability of Nonlinear Model Predictive Control for 3D Target Tracking

Torres, IJ; Aguilera, RP; Ha, QP

On the Stability of Nonlinear Model Predictive Control for 3D Target Tracking

Torres, IJ Aguilera, RP Ha, QP

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Publisher:: ELSEVIER
Publication Type:: Conference Proceeding
Citation:: IFAC-PapersOnLine, 2024, 58, (18), pp. 194-199
Issue Date:: 2024-08-01

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Field	Value	Language
dc.contributor.author	Torres, IJ
dc.contributor.author	Aguilera, RP
dc.contributor.author	Ha, QP
dc.date	2024-08-21
dc.date.accessioned	2024-11-16T11:20:11Z
dc.date.available	2024-11-16T11:20:11Z
dc.date.issued	2024-08-01
dc.identifier.citation	IFAC-PapersOnLine, 2024, 58, (18), pp. 194-199
dc.identifier.issn	2405-8971
dc.identifier.issn	2405-8963
dc.identifier.uri	http://hdl.handle.net/10453/181931
dc.description.abstract	In this study, we present the stability analysis of a Nonlinear Model Predictive Control (NMPC) of a 3D ground target tracking system model. The system model is derived considering the 3D kinematic system model referenced to the ground target. The NMPC adeptly track errors across five states: range, bearing angle, altitude, pitch angle, and speed. This objective is achieved through the utilization of yaw angle, pitch angle, and acceleration as control inputs. The contribution of this paper is the establishment of stability conditions within the Lyapunov framework for the closed-loop system. To demonstrate the efficacy of our proposed model, we conducted simulations, which shows high accuracy in tracking all designated states.
dc.language	en
dc.publisher	ELSEVIER
dc.relation.ispartof	IFAC-PapersOnLine
dc.relation.ispartof	8th IFAC Conference on Nonlinear Model Predictive Control (NMPC)
dc.relation.isbasedon	10.1016/j.ifacol.2024.09.030
dc.rights	info:eu-repo/semantics/openAccess
dc.subject.classification	4007 Control engineering, mechatronics and robotics
dc.subject.classification	4008 Electrical engineering
dc.title	On the Stability of Nonlinear Model Predictive Control for 3D Target Tracking
dc.type	Conference Proceeding
utslib.citation.volume	58
utslib.location.activity	JAPAN, Kyoto
pubs.organisational-group	University of Technology Sydney
pubs.organisational-group	University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	University of Technology Sydney/UTS Groups
pubs.organisational-group	University of Technology Sydney/UTS Groups/Centre for Built Infrastructure Resilience (CBIR)
utslib.copyright.status	open_access	*
dc.rights.license	This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License (CC BY-NC-ND 4.0). To view a copy of this license, visit https://creativecommons.org/licenses/by-nc-nd/4.0/
dc.date.updated	2024-11-16T11:20:09Z
pubs.finish-date	2024-08-24
pubs.issue	18
pubs.publication-status	Published
pubs.start-date	2024-08-21
pubs.volume	58
utslib.citation.issue	18

Abstract:

In this study, we present the stability analysis of a Nonlinear Model Predictive Control (NMPC) of a 3D ground target tracking system model. The system model is derived considering the 3D kinematic system model referenced to the ground target. The NMPC adeptly track errors across five states: range, bearing angle, altitude, pitch angle, and speed. This objective is achieved through the utilization of yaw angle, pitch angle, and acceleration as control inputs. The contribution of this paper is the establishment of stability conditions within the Lyapunov framework for the closed-loop system. To demonstrate the efficacy of our proposed model, we conducted simulations, which shows high accuracy in tracking all designated states.

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http://hdl.handle.net/10453/181931