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A generalized Frame Adaptive MPC for the low-level control of UAVs
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0001-5735-5484
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
2018 (English)Conference paper, Published paper (Refereed)
Abstract [en]

The aim of this article is to establish an adaptiveModel Predictive Control (MPC) scheme for the angular rate and thrust control of a multirotor Unmanned Aerial Vehicle (UAV). The proposed model adaptiveness comes from estimating the movement of the Center of Gravity (CoG) combined withthe thrust constant of the motors, making the system robust to disturbances and fast to adapt to changing parameters, while also taking under consideration the control signal bounds in order to guarantee for no motor stalls, while flying. The linear requirements of the MPC are adhered to by transforming the estimation and control problem into a control signal squared domain, making the system linear. The efficacy of the proposed estimation and control scheme is presented in simulations where worst case scenarios have been considered.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2018.
Keywords [en]
UAV; Adaptive Control; System Identification
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-69752OAI: oai:DiVA.org:ltu-69752DiVA, id: diva2:1222212
Conference
European Control Conference, Cyprus, Limasson, 12-15 June, 2018
Projects
AEROWORKS (Grant Agreement No. 644128)SIMS (Grant Agreement No. 730302)Available from: 2018-06-21 Created: 2018-06-21 Last updated: 2018-06-27

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Fresk, EmilNikolakopoulos, George
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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf