3D Path-Following Guidance with MPC for UAS
Analysis
Key Takeaways
- •Presents two novel 3D path-following guidance algorithms based on Nonlinear Model Predictive Control (MPC) for fixed-wing small UAS.
- •Demonstrates the use of MPC for optimal control, considering aircraft dynamics for precise path following.
- •Showcases real-world feasibility and superior performance of MPC compared to a baseline lookahead guidance law.
- •Includes control-augmented modeling and system identification of the RAAVEN UAS.
- •Formulations of MPC include optimizing for reference path rate, allowing for a weighted tradeoff between path progression and distance from path.
“The results showcase the real-world feasibility and superior performance of nonlinear MPC for 3D path-following guidance at ground speeds up to 36 meters per second.”