用非线性模型预测控制实现小型固定翼无人机3D路径跟踪，速度达36米/秒
3D Path-Following Guidance via Nonlinear Model Predictive Control for Fixed-Wing Small UAS
- 基于非线性MPC设计两种路径跟随算法，支持任意光滑3D曲线
- 在36米/秒地速下飞行测试，性能优于传统前瞻引导法
- 动态优化路径速率，平衡路径推进与偏离度，适合高曲率路径
本文提出并实现了两种基于非线性模型预测控制（MPC）的新型3D路径跟随引导算法，专用于固定翼小型无人航空系统。为实现MPC，本文完成了RAAVEN小型无人机的控制增强建模与系统辨识。提出了两种MPC形式：第一种在控制时域内设定静态参考路径速率，鼓励保持恒定惯性速度；第二种受模型预测轮廓控制启发，动态优化控制器时域内的参考路径速率，实现路径推进与路径偏离度之间的加权权衡。两种控制器均针对一般光滑的3D弧长参数化曲线设计。算法在多个高曲率测试路径上进行了飞行验证，并与基准前瞻引导法进行比较。结果表明，非线性MPC在地面速度高达36米/秒时仍具备实际可行性且性能更优。
原文摘要 · Abstract (English)
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.
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