Abstract
In this paper, we present a simple optimal path following algorithm for a generic small fixed-wing unmanned aerial vehicle by virtue of a predictive control approach. Different from most of exiting path following algorithms, the proposed algorithm is designed in an optimal manner where the control action is generated based on a well-defined cost function. In addition, the presented approach is designed without resorting to any complex geometric coordinate transformation. Thereby the resultant optimal control law is straightforward for practical implementation. The effectiveness of the present method is validated by three cases of simulation studies.
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