Optimal Fixed-Wing UAV Rendezvous Via LQR-Based Longitudinal Control

Abstract

This paper proposes an optimal control-based rendezvous strategy for fixed-wing Unmanned Aerial Vehicles (UAVs) using a Linear Quadratic Regulator (LQR). The goal is precisely tracking a moving target while maintaining flight stability and avoiding predefined restricted areas. The controller optimally adjusts UAVs flight parameters to minimize trajectory errors and enhance robustness against environmental disturbances. A penalty-based method is integrated to prevent UAVs from entering restricted areas while ensuring smooth trajectory adaptation. The proposed approach has been tested in MATLAB simulations under multiple scenarios, demonstrating its effectiveness in achieving stable and efficient rendezvous maneuvers. The results confirm that LQR-based control and adaptive penalty mechanisms offer a practical solution for fixed-wing UAV operations in constrained environments.