Research Article Explicit Nonlinear Model Predictive Control for a Saucer-Shaped Unmanned Aerial Vehicle

which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. A lifting body unmanned aerial vehicle (UAV) generates lift by its body and showsmany 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 bodyUAVs and can compensate the insufficient control surface area. 1