Nonlinear Model Predictive Control for Unmanned Aerial Vehicles

Nonlinear Model Predictive Control for Unmanned Aerial Vehicles

Department of Mechanical & Aerospace Engineering, University of Texas at Arlington, Arlington, TX 76019, USA; [email protected] * Correspondence: [email protected]; Tel.: +1-817-272-7467 † This paper is an extended version of our paper published in the Proceedings of the AIAA Atmospheric Flight Mechanics Conference, AIAA Aviation Forum, Dallas, TX, USA, 22–25 June 2015; Kamesh Subbarao, Ca...

Nonlinear Model Predictive Tracking Control for Rotorcraft-based Unmanned Aerial Vehicles

In this paper, we investigate the feasibility of a nonlinear model predictive tracking control (NMPTC) for autonomous helicopters. We formulate a NMPTC algorithm for planning paths under input and state constraints and tracking the generated position and heading trajectories, and implement an on-line optimization controller using gradient-descent method. The proposed NMPTC algorithm demonstrate...

Nonlinear Model Predictive Control Technique for Unmanned Air Vehicles

A nonlinear model predictive control strategy is developed and subsequently specialized to autonomous aircraft that can be adequately modeled with a rigid 6-degrees-of-freedom representation. Whereas the general air vehicle dynamic equations are nonlinear and nonaffine in control, a closed-form solution for the optimal control input is enabledby expandingboth the output and control in a truncat...

Nonlinear Flight Control Techniques for Unmanned Aerial Vehicles

In order to meet increasing demands on performance and reliability of Unmanned Aerial Vehicles, nonlinear and adaptive control techniques are often utilized. These techniques are actively being studied to handle nonlinear aerodynamic and kinematic effects, actuator saturations and rate limitations, modeling uncertainty, and time varying dynamics. This chapter presents an overview of some tools ...

Nonlinear Control of Fixed-Wing Unmanned Aerial Vehicles