3D Path-Following Guidance with MPC for UAS
Published:Dec 30, 2025 16:27
•2 min read
•ArXiv
Analysis
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.
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.
Reference
“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.”