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Nonlinear Model Predictive Control for Unmanned Aerial Vehicles.
- Source :
- Aerospace (MDPI Publishing); 2017, Vol. 4 Issue 2, p31, 26p
- Publication Year :
- 2017
-
Abstract
- This paper discusses the derivation and implementation of a nonlinear model predictive control law for tracking reference trajectories and constrained control of a quadrotor platform. The approach uses the state-dependent coefficient form to capture the system nonlinearities into a pseudo-linear system matrix. The state-dependent coefficient form is derived following a rigorous analysis of aerial vehicle dynamics that systematically accounts for the peculiarities of such systems. The same state-dependent coefficient form is exploited for obtaining a nonlinear equivalent of the model predictive control. The nonlinear model predictive control law is derived by first transforming the continuous system into a sampled-data form and and then using a sequential quadratic programming solver while accounting for input, output and state constraints. The boundedness of the tracking errors using the sampled-data implementation is shown explicitly. The performance of the nonlinear controller is illustrated through representative simulations showing the tracking of several aggressive reference trajectories with and without disturbances. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 22264310
- Volume :
- 4
- Issue :
- 2
- Database :
- Complementary Index
- Journal :
- Aerospace (MDPI Publishing)
- Publication Type :
- Academic Journal
- Accession number :
- 123785476
- Full Text :
- https://doi.org/10.3390/aerospace4020031