Preprint
Aug 2026
Nonlinear Model Predictive Control for Trajectory Tracking of Differentially Flat Fixed-Wing Aerial Systems
A unified framework that integrates differential flatness-based trajectory generation with Nonlinear Model Predictive Control (NMPC) is proposed, combining computationally efficient planning with predictive, constraint-aware control and validated through extensive simulations and real-world flight experiments.
Nishanth Bobbili, P. Rao, Luca Morando et al.
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