DocumentCode
664294
Title
Cascaded model predictive control of a quadrotor UAV
Author
Xi Chen ; Liuping Wang
fYear
2013
fDate
4-5 Nov. 2013
Firstpage
354
Lastpage
359
Abstract
When using a linear controller for controlling a non-linear system, the controller is most effective when the system is working near the operating conditions. This paper proposes a model predictive controller with cascaded structure, which has the ability to maintain the state variables within the vicinity of a given operating condition by imposing operational constraints. The controller is validated on the quadrotor position control problem and shows satisfactory performance.
Keywords
autonomous aerial vehicles; cascade control; nonlinear control systems; position control; predictive control; rotors (mechanical); cascaded model predictive control; cascaded structure; nonlinear control system; operating condition; operational constraint; quadrotor UAV; quadrotor position control problem; state variable maintenance; unmanned aerial vehicle; Equations; Mathematical model; Position control; Predictive control; Quadratic programming; State-space methods;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (AUCC), 2013 3rd Australian
Conference_Location
Fremantle, WA
Print_ISBN
978-1-4799-2497-4
Type
conf
DOI
10.1109/AUCC.2013.6697298
Filename
6697298
Link To Document