Kang, Yeonsik Hedrick, J. Karl 2024-01-20T21:01:13Z 2024-01-20T21:01:13Z 2021-09-01 2009-09 1063-6536 https://pubs.kist.re.kr/handle/201004/132223 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." English IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC Linear Tracking for a Fixed-Wing UAV Using Nonlinear Model Predictive Control Article 10.1109/TCST.2008.2004878 1 IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, v.17, no.5, pp.1202 - 1210 IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 17 5 1202 1210 scie scopus 000269443200019 Automation & Control Systems Engineering, Electrical & Electronic Automation & Control Systems Engineering Article Nonlinear model predictive control (NMPC) receding-horizon control stability unmanned aerial vehicle (UAV)