Path Following for UAV using Nonlinear Model Predictive Control

Abstract

For the fixed-wing UAV control system, the lateral path-following system is an important part, which ensures that the UAV flies stably in accordance with the predetermined route within a certain height. For the lateral path following of UAV based on nonlinear model predictive control, the model of the lateral kinematics of the fixed-wing UAV is established first, and then the path-following problem of UAV at a constant height is considered. The objective function with constraints based on the NMPC is established, and finally the nonlinear optimization algorithm is used to minimize the designed objective function. The optimal control quantity in the rolling interval is obtained. Matlab is used to simulate the designed controller and compare it with the commonly used L1 guidance law, and the results of the simulation demonstrate that the NMPC has superior control leverage.