Aircraft control based on fast non-linear MPC & multiple-shooting

For extreme maneuvers, feasible flight trajectories can be difficult to compute. If the aircraft is controlled based on linear approximations of the system dynamics that are computed along infeasible trajectories, poor control actions and violations of the flight envelope constraints can result. This paper proposes a Non-linear Model Predictive Control (NMPC) approach, to handle extreme maneuvers, respect the flight envelope, handle actuator failure, and perform emergency obstacle avoidance with a single, non-hierarchical controller that can be implemented in real time.