Generalized Incremental Predictive Guidance and Control: Design, Stability, Real-Time Validation, and Simulation

Document Type : Research Paper

Authors

Faculty of Electrical & Computer Engineering, Malek-Ashtar University of Technology, Tehran, Iran.

Abstract

This paper presents a new integrated guidance and control system for an air vehicle based on incremental predictive control. Integrating guidance and control loops improves reliability, enhances performance, and reduces costs. The integration is built using the linear system, with the command signal being the pursuer's deflection angle and the output being the miss distance. The generalized incremental model predictive control is used as the commanding block to control and guide the pursuer to its target. The goal is to minimize a quadratic cost function with a cost associated with the relative displacement between the target and the pursuer and the deflection angle. At first, the dynamical system model is derived, and the target acceleration is added to the system to provide additional information to reduce the control effort. Then, the guidance-control algorithm is designed and implemented, and the stability of the proposed algorithm is proven. After that, the influence of prediction and control horizons on the integrated system is analyzed. The results show the effectiveness of the predictive integrated system. Finally, to ensure the implementation capability of the proposed algorithm, a Processor-in-the-Loop experiment is conducted using Arduino Duo, and it yielded good results.

Keywords

Main Subjects

References

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History

  • Receive Date: 15 August 2025
  • Revise Date: 23 September 2025
  • Accept Date: 27 September 2025

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