Title :
Robust one-step-ahead model predictive control of VTOL-UAVs
Author_Institution :
Comput. Eng. Dept., King Saud Univ., Riyadh, Saudi Arabia
Abstract :
This paper presents a simple continuous-time controller, based on the minimization of the predicted tracking errors, applied to unmanned aerial vehicle with fixed payload variations. This nonlinear controller ensures the asymptotic stability of the tracking errors of both attitude, take-off, hovering, and landing. To increase the robustness of this algorithm with regards to payload variations, an integral action has been included in height-loop. Simulation results show the effectiveness of the proposed algorithm.
Keywords :
asymptotic stability; autonomous aerial vehicles; continuous time systems; entry, descent and landing (spacecraft); minimisation; predictive control; robust control; VTOL-UAVs; asymptotic stability; continuous-time controller; hovering; landing; minimization; predicted tracking errors; robust one-step-ahead model predictive control; take-off; unmanned aerial vehicle; Aerodynamics; Aircraft; Attitude control; Mathematical model; Payloads; Predictive control; Robustness; Predictive control; VTOL-UAV; payload; robustness;
Conference_Titel :
Control and Decision Conference (CCDC), 2015 27th Chinese
Conference_Location :
Qingdao
Print_ISBN :
978-1-4799-7016-2
DOI :
10.1109/CCDC.2015.7162445
