Optimal Predictive Steering Control for Aircraft Ground Path Following

Whilst autopilot systems have been commonly used by aircraft in flight, the control of aircraft on the ground has received limited attention in the literature. This paper presents a real-time optimal controller based on linear quadratic (LQ) method with a road preview model incorporated with the aircraft model. The aircraft ground dynamics are captured by a 6-DOF nonlinear model which is linearized at a range of equilibrium points. The proposed LQ controller is compared with a reference, simple driver model in runway exit manoeuvres by following the centerline at different speeds. Taking advantage of the road preview mechanism and optimal control gain, the presented controller outperforms the driver model with lower track error.