Nonlinear Model Predictive Guidance for Fixed-wing UAVs Using Identified Control Augmented Dynamics

@article{Stastny2018NonlinearMP,
  title={Nonlinear Model Predictive Guidance for Fixed-wing UAVs Using Identified Control Augmented Dynamics},
  author={Thomas Stastny and R. Siegwart},
  journal={2018 International Conference on Unmanned Aircraft Systems (ICUAS)},
  year={2018},
  pages={432-442}
}
  • Thomas Stastny, R. Siegwart
  • Published 2018
  • Computer Science, Engineering
  • 2018 International Conference on Unmanned Aircraft Systems (ICUAS)
  • As off-the-shelf (OTS) autopilots become more widely available and user-friendly and the drone market expands, safer, more efficient, and more complex motion planning and control will become necessary for fixed-wing aerial robotic platforms. Considering typical low-level attitude stabilization available on OTS flight controllers, this paper first develops an approach for modeling and identification of the control augmented dynamics for a small fixed-wing Unmanned Aerial Vehicle (UAV). A high… CONTINUE READING
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