Planar curved path following controller for a small fixed-wing unmanned aerial vehicle with constrained parameters optimized by nonlinear model predictive control
Yang Chen,
Wei Zeng,
Chaolei Wang
et al.
Abstract:Path following presents a pivotal challenge within the realm of small fixed-wing unmanned aerial vehicles. Firstly, a Lyapunov-stable path guidance law was formulated to follow specific planar curved paths. To ensure differentiability of the guidance law, a modified, smooth saturation function was derived. Secondly, an analysis was conducted to ascertain the interrelationship between control parameters and input constraints, thereby identifying the relevant parameter domains. Thirdly, the nonlinear model predi… Show more
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