Luca Masci

Nonlinear Model Predictive Control for Trajectory Tracking of Differentially Flat Fixed-Wing Aerial Systems

Planning and control of fixed-wing Unmanned Aerial Vehicles (UAVs) are challenging due to nonlinear dynamics, aerodynamic limits, and environmental disturbances. Differential flatness offers a principled way to generate fast, feasible trajectories, but its use has largely been confined to model-free controllers, which...