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Linear Tracking for a Fixed-Wing UAV Using Nonlinear Model Predictive Control
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DOI：10.1109/TCST.2008.2004878.png)
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摘要
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In this paper, a nonlinear model predictive control (C) 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 NNOC. 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.
Keyword:
Nonlinear model predictive control (NMPC)
receding-horizon control
stability
unmanned aerial vehicle (UAV)
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