This paper introduces a Nonlinear Model Predictive Control (NMPC) approach for the path-following control of fixed-wing unmanned aerial vehicles (UAVs). Unlike other NMPC approaches that rely on kinematic guidance models or control-augmented dynamics, the proposed NMPC is implemented directly at the actuator level, eliminating the need for a lower-level flight-control loop. The performance of the proposed NMPC is evaluated through numerical simulations. The results demonstrate the controller’s robustness in accurately tracking high-curvature parametric paths, particularly for short prediction horizons. Furthermore, the feasibility of real-time implementation on embedded computing platforms onboard a fixed-wing UAV is discussed.
Fixed-Wing UAV Path-Following Control via NMPC on the Lowest Level
16.08.2023
1833102 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch