Fast Hildreth-based Model Predictive Control of Roll Angle for a Fixed-Wing UAV

Victor Truong Thinh Lam (Corresponding author), Abdul Sattar, Liuping Wang, Mircea Lazar

Research output: Contribution to journalConference articlepeer-review

3 Citations (Scopus)
37 Downloads (Pure)


In this paper we consider model predictive control (MPC) design for roll angle control for a fixed-wing unmanned aerial vehicle (UAV) with multiple segmented control surfaces. The challenge of roll angle control for a fixed-wing UAV consists of switching between inner and outer aileron pairs with hard constraints due to safety, energy saving and switching actuators. The novelty consists of formulating a hybrid control problem as a switched linear constrained MPC-QP problem and switched state observer design for fixed-wing UAV. A fast novel QP-solver based on the active-set QP-solver Hildreth is developed to meet the real-time implementation sampling time of Ts = 10 ms. The designed MPC controllers are simulated using Matlab. Simulations and the CPU-time from the improved QP-solvers show MPC to be a very good solution for real-time roll angle control of fixed-wing UAVs.

Original languageEnglish
Pages (from-to)5757-5763
Number of pages7
Issue number2
Publication statusPublished - Jul 2020
Event21st World Congress of the International Federation of Aufomatic Control (IFAC 2020 World Congress) - Berlin, Germany
Duration: 12 Jul 202017 Jul 2020
Conference number: 21


  • Active set methods
  • Fixed-Wing Unmanned Aerial Vehicle
  • Model predictive control
  • Quadratic programming


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