Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Nonlinear Model Predictive Guidance for Fixed-wing UAVs Using Identified
  Control Augmented Dynamics   As off-the-shelf (OTS) autopilots become more widely available and
user-friendly and the drone market expands, safer, more efficient, and more
complex motion planning and control will become necessary for fixed-wing aerial
robotic platforms. Considering typical low-level attitude stabilization
available on OTS flight controllers, this paper first develops an approach for
modeling and identification of the control augmented dynamics for a small
fixed-wing Unmanned Aerial Vehicle (UAV). A high-level Nonlinear Model
Predictive Controller (NMPC) is subsequently formulated for simultaneous
airspeed stabilization, path following, and soft constraint handling, using the
identified model for horizon propagation. The approach is explored in several
exemplary flight experiments including path following of helix and connected
Dubins Aircraft segments in high winds as well as a motor failure scenario. The
cost function, insights on its weighting, and additional soft constraints used
throughout the experimentation are discussed.

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The categories of this paper are: q-alg
2
The categories of this paper are: math
25
The categories of this paper are: patt-sol
21
The categories of this paper are: adap-org
24
The categories of this paper are: dg-ga
22
The categories of this paper are: chao-dyn
14
The categories of this paper are: math-ph
16
The categories of this paper are: stat
18
The categories of this paper are: econ
13
The categories of this paper are: quant-ph
8
The categories of this paper are: hep-ex
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The categories of this paper are: comp-gas
9
The categories of this paper are: nlin
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The categories of this paper are: eess
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The categories of this paper are: alg-geom
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The categories of this paper are: solv-int