Linear Tracking for a Fixed-Wing UAV Using Nonlinear Model Predictive Control
Linear Tracking for a Fixed-Wing UAV Using Nonlinear Model Predictive Control
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DOI：
10.1109/tcst.2008.2004878
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发表时间：
2009-09-01
影响因子：
4.8
通讯作者：
Hedrick, J. Karl
中科院分区：
文献类型：
--
作者：
Kang, Yeonsik;Hedrick, J. Karl
本文采用非线性模型预测控制（C）设计了固定翼无人机（UAV）的高级控制器。给定无人机动力学的运动学模型，该模型用作具有低水平自动驾驶仪航空电子设备的无人机的模型，确定NMPC的控制目标以跟踪期望的线。在推导出误差动力学方程后，将跟踪期望直线的问题转化为调节期望直线误差的问题。一个稳定性分析如下提供的条件，可以确保所设计的高级NNOC的闭环稳定性。此外，控制目标扩展到跟踪相邻的多个线段。仿真结果表明，该控制方法收敛速度快，超调量小。NMPC的性能也通过真实的“硬件在环仿真"进行了验证。"
In this paper, a nonlinear model predictive control (C) is used to design a high-level controller for a fixed-wing unmanned aerial vehicle (UAV). Given the kinematic model of the UAV dynamics, which is used as a model of the UAV with low-level autopilot avionics, the control objective of the NMPC is determined to track a desired line. After the error dynamics are derived, the problem of tracking a desired line is transformed into a problem of regulating the error from the desired line. A stability analysis follows to provide the conditions that can assure the closed-loop stability of the designed high-level NNOC. Furthermore, the control objective is extended to track adjoined multiple line segments. The simulation results demonstrate that the UAV controlled by the NMPC converged rapidly with a small overshoot. The performance of the NMPC was also verified through realistic "hardware in the loop simulation."