MPC based feedback-linearization strategy of a fixed-wing UAV

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dc.creatorLeonardo Anício Alves Pereira
dc.creatorLuciano Cunha de Araújo Pimenta
dc.creatorGuilherme Vianna Raffo
dc.date.accessioned2025-05-23T13:25:54Z
dc.date.accessioned2025-09-09T00:31:48Z
dc.date.available2025-05-23T13:25:54Z
dc.date.issued2020
dc.identifier.doihttps://doi.org/10.48011/asba.v2i1.1263
dc.identifier.urihttps://hdl.handle.net/1843/82475
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofXXIII Congresso Brasileiro de Automática
dc.rightsAcesso Aberto
dc.subjectTeoria do controle
dc.subject.otherFixed-Wing UAV, Feedback-linearization, Model predictive control, Optimal control allocation, Vector fields
dc.titleMPC based feedback-linearization strategy of a fixed-wing UAV
dc.typeArtigo de evento
local.citation.epage8
local.citation.spage1
local.description.resumoThis 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.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://www.sba.org.br/open_journal_systems/index.php/cba/article/view/1263

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