Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Preprint |
| Published: |
2025
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2512.24326 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866912797246357504 |
|---|---|
| author | Hirst, Camron Alexander Reale, Chris Frew, Eric |
| author_facet | Hirst, Camron Alexander Reale, Chris Frew, Eric |
| contents | This paper presents the design, implementation, and flight test results of two novel 3D path-following guidance algorithms based on nonlinear model predictive control (MPC), with specific application to fixed-wing small uncrewed aircraft systems. To enable MPC, control-augmented modelling and system identification of the RAAVEN small uncrewed aircraft is presented. Two formulations of MPC are then showcased. The first schedules a static reference path rate over the MPC horizon, incentivizing a constant inertial speed. The second, with inspiration from model predictive contouring control, dynamically optimizes for the reference path rate over the controller horizon as the system operates. This allows for a weighted tradeoff between path progression and distance from path, two competing objectives in path-following guidance. Both controllers are formulated to operate over general smooth 3D arc-length parameterized curves. The MPC guidance algorithms are flown over several high-curvature test paths, with comparison to a baseline lookahead guidance law. The results showcase the real-world feasibility and superior performance of nonlinear MPC for 3D path-following guidance at ground speeds up to 36 meters per second. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_24326 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | 3D Path-Following Guidance via Nonlinear Model Predictive Control for Fixed-Wing Small UAS Hirst, Camron Alexander Reale, Chris Frew, Eric Robotics This paper presents the design, implementation, and flight test results of two novel 3D path-following guidance algorithms based on nonlinear model predictive control (MPC), with specific application to fixed-wing small uncrewed aircraft systems. To enable MPC, control-augmented modelling and system identification of the RAAVEN small uncrewed aircraft is presented. Two formulations of MPC are then showcased. The first schedules a static reference path rate over the MPC horizon, incentivizing a constant inertial speed. The second, with inspiration from model predictive contouring control, dynamically optimizes for the reference path rate over the controller horizon as the system operates. This allows for a weighted tradeoff between path progression and distance from path, two competing objectives in path-following guidance. Both controllers are formulated to operate over general smooth 3D arc-length parameterized curves. The MPC guidance algorithms are flown over several high-curvature test paths, with comparison to a baseline lookahead guidance law. The results showcase the real-world feasibility and superior performance of nonlinear MPC for 3D path-following guidance at ground speeds up to 36 meters per second. |
| title | 3D Path-Following Guidance via Nonlinear Model Predictive Control for Fixed-Wing Small UAS |
| topic | Robotics |
| url | https://arxiv.org/abs/2512.24326 |