MPC based feedback-linearization strategy of a fixed-wing UAV
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Universidade Federal de Minas Gerais
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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.
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Fixed-Wing UAV, Feedback-linearization, Model predictive control, Optimal control allocation, Vector fields
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https://www.sba.org.br/open_journal_systems/index.php/cba/article/view/1263