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Linear Tracking for a Fixed-Wing UAV Using Nonlinear Model Predictive Control | IEEE Journals & Magazine | IEEE Xplore

Linear Tracking for a Fixed-Wing UAV Using Nonlinear Model Predictive Control


Abstract:

In this paper, a nonlinear model predictive control (NMPC) is used to design a high-level controller for a fixed-wing unmanned aerial vehicle (UAV). Given the kinematic m...Show More

Abstract:

In this paper, a nonlinear model predictive control (NMPC) is used to design a high-level controller for a fixed-wing unmanned aerial vehicle (UAV). Given the kinematic model of the UAV dynamics, which is used as a model of the UAV with low-level autopilot avionics, the control objective of the NMPC is determined to track a desired line. After the error dynamics are derived, the problem of tracking a desired line is transformed into a problem of regulating the error from the desired line. A stability analysis follows to provide the conditions that can assure the closed-loop stability of the designed high-level NMPC. Furthermore, the control objective is extended to track adjoined multiple line segments. The simulation results demonstrate that the UAV controlled by the NMPC converged rapidly with a small overshoot. The performance of the NMPC was also verified through realistic ¿hardware in the loop simulation.¿
Published in: IEEE Transactions on Control Systems Technology ( Volume: 17, Issue: 5, September 2009)
Page(s): 1202 - 1210
Date of Publication: 17 April 2009

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