Open AccessExplicit Nonlinear Model Predictive Control for a Saucer-Shaped Unmanned Aerial Vehicle
Author(s) -
Xing Zhang,
Sentang Wu,
Xiaolong Wu
Publication year - 2013
Publication title -
advances in mechanical engineering/advances in mechanical engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.318
H-Index - 40
eISSN - 1687-8140
pISSN - 1687-8132
DOI - 10.1155/2013/706453
Subject(s) - control theory (sociology) , nonlinear system , model predictive control , fuselage , rudder , rigid body , flight control surfaces , lift (data mining) , taylor series , computer science , engineering , control engineering , control (management) , mathematics , aerodynamics , aerospace engineering , artificial intelligence , physics , mathematical analysis , classical mechanics , quantum mechanics , data mining
A lifting body unmanned aerial vehicle (UAV) generates lift by its body and shows many significant advantages due to the particular shape, such as huge loading space, small wetted area, high-strength fuselage structure, and large lifting area. However, designing the control law for a lifting body UAV is quite challenging because it has strong nonlinearity and coupling, and usually lacks it rudders. In this paper, an explicit nonlinear model predictive control (ENMPC) strategy is employed to design a control law for a saucer-shaped UAV which can be adequately modeled with a rigid 6-degrees-of-freedom (DOF) representation. In the ENMPC, control signal is calculated by approximation of the tracking error in the receding horizon by its Taylor-series expansion to any specified order. It enhances the advantages of the nonlinear model predictive control and eliminates the time-consuming online optimization. The simulation results show that ENMPC is a propriety strategy for controlling lifting body UAVs and can compensate the insufficient control surface area