3D Path-Following Guidance with MPC for UAS

This paper addresses the critical challenge of autonomous navigation for small unmanned aircraft systems (UAS) by applying advanced control techniques. The use of Nonlinear Model Predictive Control (MPC) is significant because it allows for optimal control decisions based on a model of the aircraft's dynamics, enabling precise path following, especially in complex 3D environments. The paper's contribution lies in the design, implementation, and flight testing of two novel MPC-based guidance algorithms, demonstrating their real-world feasibility and superior performance compared to a baseline approach. The focus on fixed-wing UAS and the detailed system identification and control-augmented modeling are also important for practical application.