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

Authors
Kang, YeonsikHedrick, J. Karl
Issue Date
2009-09
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, v.17, no.5, pp.1202 - 1210
Abstract
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."
Keywords
Nonlinear model predictive control (NMPC); receding-horizon control; stability; unmanned aerial vehicle (UAV)
ISSN
1063-6536
URI
https://pubs.kist.re.kr/handle/201004/132223
DOI
10.1109/TCST.2008.2004878
Appears in Collections:
KIST Article > 2009
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