Nonlinear model predictive control of PVTOL aircraft under state and input constraints

The paper presents a nonlinear model predictive control (NMPC) strategy for stabilization and trajectory tracking control of planar vertical Take-off and landing (PVTOL) aircraft. PVTOL system is considered as a benchmark for investigating dynamics and control related issues for unmanned aerial vehicles (UAVs). Control problem of such systems is made challenging due to their under-actuated nature and nonlinear dynamics. We propose a nonlinear MPC methodology to effectively deal with such nonlinearities. Also, the proposed control strategy takes into account state (roll angle) as well as input thrust constraints. Validation of control law is performed through MATLAB simulations for various operating conditions and coupling scenarios.