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Nonlinear model predictive control with constraint satisfactions for a quadcopter

AuthorsWang, Ye ; Ramirez-Jaime, A.; Xu, Feng ; Puig, Vicenç
Issue Date2017
PublisherInstitute of Physics Publishing
CitationJournal of Physics: Conference Series 783: 012025 (2017)
AbstractThis 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.
DescriptionTrabajo presentado a la 13th European Workshop on Advanced Control and Diagnosis (ACD 2016).
Publisher version (URL)https://doi.org/10.1088/1742-6596/783/1/012025
Identifiersdoi: 10.1088/1742-6596/783/1/012025
issn: 1742-6588
e-issn: 1742-6596
Appears in Collections:(IRII) Artículos
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