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Switching model predictive attitude control for a quadrotor helicopter subject to atmospheric disturbances
Department of Electrical and Computer Engineering, University of Patras.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
Department of Electrical and Computer Engineering, University of Patras.
2011 (English)In: Control Engineering Practice, ISSN 0967-0661, E-ISSN 1873-6939, Vol. 19, no 10, 1195-1207 p.Article in journal (Refereed) Published
Abstract [en]

In this article a Switching Model Predictive Attitude Controller for an Unmanned quadrotor Helicopter subject to atmospheric disturbances is presented. The proposed control scheme is computed based on a Piecewise Affine (PWA) model of the quadrotor’s attitude dynamics, where the effects of the atmospheric turbulence are taken into consideration as additive disturbances. The switchings among the PWA models are ruled by the rate of the rotation angles and for each PWA system a corresponding model predictive controller is computed. The suggested algorithm is verified in experimental studies in the execution of sudden maneuvers subject to forcible wind disturbances. The quadrotor rejects the induced wind–disturbances while performing accurate attitude tracking.

Place, publisher, year, edition, pages
2011. Vol. 19, no 10, 1195-1207 p.
Research subject
Control Engineering
URN: urn:nbn:se:ltu:diva-3961DOI: 10.1016/j.conengprac.2011.06.010Local ID: 1ce7e9a6-0492-495c-a0d4-727c2cece352OAI: diva2:976823
Validerad; 2011; 20110627 (geonik)Available from: 2016-09-29 Created: 2016-09-29Bibliographically approved

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