Nonlinear Model Predictive Controller for Navigation, Guidance and Control of a Fixed-Wing UAV

A Nonlinear Model Predictive Controller (NMPC) is designed to perform guidance, navigation, and control of a fixed-wing UAV in waypoint trajectory tracking. The inherent nonlinear nature of the aircraft together with the limited desired operation ranges of both controls and states variables make the use of an on-line control law computation more appropriate. The MPC theory allows an optimal on-line solution, when enough onboard computational power is available. Using nonlinear guidance laws for both lateral and longitudinal planes, extended Kalman filter estimations if required, and a complete nonlinear model of the UAV, the NMPC generates on-line optimal or suboptimal control signals to keep the UAV in trajectory following.

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