Uploaded June 2020 | Updated September 2026, 1 day ago
This is a flight simulation of a fixed wing aircraft in 6-DOF using MPC (model predictive control), using MATLAB, Simulink, and FlightGear.
The model predictive control (MPC) design was implemented in Python and then the states/inputs were exported to MATLAB via a csv file, then loaded onto FlightGear.
A linear MPC formulation is developed for both longitudinal and lateral modes (where there is coupling between the two), via constrained quadratic programming QP.
The simulation shows that due to the inherent MIMO coupling of inputs, some of the controlled variables exhibit overshoot.
However, the actuator position and rate constraints are satisfied, thereby demonstrating that the QP solver works well.
Furthermore, there is a limit on the maximum setpoints that can be used on the controlled variables. For instance,nthe maximum pitch angle which can be reached is 0.04 rad and -0.035 rad. This is due to the QP formulation itself.
Part 3 of my FlightGear video series is coming soon.
Thanks for watching!
VDEngineering
~~My Udemy Courses on Motion Planning / Navigation / Trajectory Planning:
udemy.com/course/autonomous-robots-nonholonomic-motion-planning-algorithms
Buy Coffee: buymeacoffee.com/vdengineering
My Instagram: instagram.com/vinayak_desh
My Website: vinayakd.com
This is a flight simulation of a fixed wing aircraft in 6-DOF using MPC (model predictive control), using MATLAB, Simulink, and FlightGear.
The model predictive control (MPC) design was implemented in Python and then the states/inputs were exported to MATLAB via a csv file, then loaded onto FlightGear.
A linear MPC formulation is developed for both longitudinal and lateral modes (where there is coupling between the two), via constrained quadratic programming QP.
The simulation shows that due to the inherent MIMO coupling of inputs, some of the controlled variables exhibit overshoot.
However, the actuator position and rate constraints are satisfied, thereby demonstrating that the QP solver works well.
Furthermore, there is a limit on the maximum setpoints that can be used on the controlled variables. For instance,nthe maximum pitch angle which can be reached is 0.04 rad and -0.035 rad. This is due to the QP formulation itself.
Part 3 of my FlightGear video series is coming soon.
Thanks for watching!
VDEngineering
~~My Udemy Courses on Motion Planning / Navigation / Trajectory Planning:
udemy.com/course/autonomous-robots-nonholonomic-motion-planning-algorithms
Buy Coffee: buymeacoffee.com/vdengineering
My Instagram: instagram.com/vinayak_desh
My Website: vinayakd.com
