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.


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    Title :

    Fixed-Wing UAV Path-Following Control via NMPC on the Lowest Level


    Contributors:


    Publication date :

    2023-08-16


    Size :

    1833102 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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