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Nonlinear model predictive control with constraint satisfactions for a quadcopter

AutorWang, Ye; Ramirez-Jaime, A.; Xu, Feng; Puig, Vicenç
Fecha de publicación2017
EditorInstitute of Physics Publishing
CitaciónJournal of Physics: Conference Series 783: 012025 (2017)
ResumenThis paper presents a nonlinear model predictive control (NMPC) strategy combined with constraint satisfactions for a quadcopter. The full dynamics of the quadcopter describing the attitude and position are nonlinear, which are quite sensitive to changes of inputs and disturbances. By means of constraint satisfactions, partial nonlinearities and modeling errors of the control-oriented model of full dynamics can be transformed into the inequality constraints. Subsequently, the quadcopter can be controlled by an NMPC controller with the updated constraints generated by constraint satisfactions. Finally, the simulation results applied to a quadcopter simulator are provided to show the eectiveness of the proposed strategy.
DescripciónTrabajo presentado a la 13th European Workshop on Advanced Control and Diagnosis (ACD 2016).
Versión del editorhttps://doi.org/10.1088/1742-6596/783/1/012025
URIhttp://hdl.handle.net/10261/168115
Identificadoresdoi: 10.1088/1742-6596/783/1/012025
issn: 1742-6588
e-issn: 1742-6596
Aparece en las colecciones: (IRII) Artículos
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