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Path following is a fundamental problem for unmanned air vehicles (UAVs). In this paper, a Lyapunov stable path guidance law is designed to generate the course control command for a small UAV. The control parameters of the guidance law is optimized by the nonlinear model predictive control (NMPC) techinque. The relative simulations with the three different approaches: Lyapunov stable controller with...
This paper proposes a nonlinear controller that allows the unmanned air vehicle (UAV) to follow a predefined path. The controller only needs the information of the inertial speed of the UAV and the distance between the vehicle and the desired path. In order to improve the performance of the controller, a parameter of the controller is optimized by using the concept of model predictive control (MPC)...
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