Explicit model predictive control and L1-navigation strategies for fixed-wing UAV path tracking

Philipp Oettershagen, Amir Melzer, Stefan Leutenegger, Kostas Alexis, Roland Siegwart

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

23 Scopus citations

Abstract

A control strategy for fixed-wing Unmanned Aerial Vehicles is proposed and relies on the combination of linear model predictive control laws for the attitude dynamics of the system, along with an implementation of the L1-navigation logic that provides attitude reference commands to achieve precise path tracking. The employed predictive controllers ensure the performance characteristics of the critical attitude loops, while respecting the actuation limitations of the platform along with safety considerations encoded as state constraints. Being explicitly computed, these strategies are computationally lightweight and allow for seamless integration on the onboard avionics. Once the desired attitude response characteristics are achieved, tuning the cascaded nonlinear L1-navigation law becomes straightforward as lateral acceleration references can be precisely tracked. A wide set of experiments was conducted in order to evaluate the performance of the proposed strategies. As shown high quality tracking results are achieved.

Original languageEnglish
Title of host publication2014 22nd Mediterranean Conference on Control and Automation, MED 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1159-1165
Number of pages7
ISBN (Electronic)9781479959006
DOIs
StatePublished - 18 Nov 2014
Externally publishedYes
Event22nd Mediterranean Conference on Control and Automation, MED 2014 - Palermo, Italy
Duration: 16 Jun 201419 Jun 2014

Publication series

Name2014 22nd Mediterranean Conference on Control and Automation, MED 2014

Conference

Conference22nd Mediterranean Conference on Control and Automation, MED 2014
Country/TerritoryItaly
CityPalermo
Period16/06/1419/06/14

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