An iterative model predictive control algorithm for UAV guidance

A novel aircraft path-following guidance algorithm based on model predictive control is proposed in this paper. The algorithm tracks a precomputed trajectory and produces reference commands for a low-level attitude controller. To solve the associated nonlinear optimization problem, an iterative scheme is proposed, using as a feasible hotstart the guidance solution provided by a well-behaved L1 navigation law. Simulations show the effectiveness of the algorithm, even in the presence of disturbances such as wind.