Model Predictive Control of a Tricopter
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Modellprediktiv reglering av en tricopter (Swedish)
In this master thesis, a real-time control system that stabilizes the rotational rates of a tri-copter, has been studied. The tricopter is a rotorcraft with three rotors.
The tricopter has been modelled and identified, using system identification algorithms. The model has been used in a Kalman filter to estimate the state of the system and for design ofa model based controller.
The control approach used in this thesis is a model predictive controller, which is a multi-variable controller that uses a quadratic optimization problem to compute the optimal con-trol signal. The problem is solved subject to a linear model of the system and the physicallimitations of the system.
Two different types of algorithms that solves the MPC problem have been studied. These are explicit MPC and the fast gradient method. Explicit MPC is a pre-computed solution to the problem, while the fast gradient method is an online solution.
The algorithms have been simulated with the Kalman filter and were implemented on themicrocontroller of the tricopter.
Place, publisher, year, edition, pages
2012. , 90 p.
MPC, explicit MPC, fast gradient, Kalman filter, PEM, tricopter
IdentifiersURN: urn:nbn:se:liu:diva-79066ISRN: LiTH-ISY-EX--12/4607--SEOAI: oai:DiVA.org:liu-79066DiVA: diva2:538067
Subject / course
2012-06-20, Algoritmen, B-huset, Linköping, 10:15 (Swedish)