MPC Based Feedback-Linearization Strategy of a Fixed-Wing UAV

  • Leonardo A. A. Pereira Universidade Federal de Minas Gerais
  • Luciano C. A. Pimenta Universidade Federal de Minas Gerais
  • Guilherme V. Raffo Universidade Federal de Minas Gerais
Keywords: Fixed-Wing UAV, Feedback-linearization, Model predictive control, Optimal control allocation, Vector fields

Abstract

This work proposes a xed-wing UAV (Ummaned Aerial Vehicle) control strategy based on feedback-linearization and model predictive control (MPC). The strategy makes use of the relationship between the applied control inputs of the UAV and the generalized forces and moments actuating on it. A linear model is obtained by the exact feedback-linearization technique, followed by the use of MPC to solve the trajectory tracking and the control allocation problems. The proposed controller is capable of actuating on the 6 DOF (Degrees of Freedom) of the UAV, avoiding inherited restrictions when the model is decoupled. The proposed strategy is applied in a curve tracking task. Simulations are performed using MATLAB software, and the results show the eciency of the proposed control strategy.

Published
2020-12-08
Section
Articles