An iterative model predictive control algorithm for UAV guidance

Francisco Gavilan, Rafael Vazquez, Eduardo F. Camacho
2015 IEEE Transactions on Aerospace and Electronic Systems  
A novel aircraft path-following guidance algorithm based on model predictive control is proposed in this paper. The algorithm tracks a precomputed trajectory and produces reference commands for a low-level attitude controller. To solve the associated nonlinear optimization problem, an iterative scheme is proposed, using as a feasible hotstart the guidance solution provided by a well-behaved L1 navigation law. Simulations show the effectiveness of the algorithm, even in the presence of
more » ... esence of disturbances such as wind.
doi:10.1109/taes.2015.140153 fatcat:lwp2wc3i2fccjoqf2oyiy35iwe