{"ID":2824065,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.24326","arxiv_id":"2512.24326","title":"3D Path-Following Guidance via Nonlinear Model Predictive Control for Fixed-Wing Small UAS","abstract":"This paper presents the design, implementation, and flight test results of two novel 3D path-following guidance algorithms based on nonlinear model predictive control (MPC), with specific application to fixed-wing small uncrewed aircraft systems. To enable MPC, control-augmented modelling and system identification of the RAAVEN small uncrewed aircraft is presented. Two formulations of MPC are then showcased. The first schedules a static reference path rate over the MPC horizon, incentivizing a constant inertial speed. The second, with inspiration from model predictive contouring control, dynamically optimizes for the reference path rate over the controller horizon as the system operates. This allows for a weighted tradeoff between path progression and distance from path, two competing objectives in path-following guidance. Both controllers are formulated to operate over general smooth 3D arc-length parameterized curves. The MPC guidance algorithms are flown over several high-curvature test paths, with comparison to a baseline lookahead guidance law. The results showcase the real-world feasibility and superior performance of nonlinear MPC for 3D path-following guidance at ground speeds up to 36 meters per second.","short_abstract":"This paper presents the design, implementation, and flight test results of two novel 3D path-following guidance algorithms based on nonlinear model predictive control (MPC), with specific application to fixed-wing small uncrewed aircraft systems. To enable MPC, control-augmented modelling and system identification of t...","url_abs":"https://arxiv.org/abs/2512.24326","url_pdf":"https://arxiv.org/pdf/2512.24326v1","authors":"[\"Camron Alexander Hirst\",\"Chris Reale\",\"Eric Frew\"]","published":"2025-12-30T16:27:44Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}