Change search
CiteExportLink to record
Permanent link

Direct link
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
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
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.ORCID iD: 0000-0003-0126-1897
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.
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-3961DOI: 10.1016/j.conengprac.2011.06.010Local ID: 1ce7e9a6-0492-495c-a0d4-727c2cece352OAI: oai:DiVA.org:ltu-3961DiVA: diva2:976823
Note
Validerad; 2011; 20110627 (geonik)Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2017-11-24Bibliographically approved

Open Access in DiVA

fulltext(2863 kB)228 downloads
File information
File name FULLTEXT01.pdfFile size 2863 kBChecksum SHA-512
d4a6ec234c3cb4f747552163bd73578b059d1bf43e281828cf1f85963a9049838367d20fc0903c70f6df13dd90a352d9d1c01d548104b219c21428989c20bdb6
Type fulltextMimetype application/pdf

Other links

Publisher's full text

Search in DiVA

By author/editor
Nikolakopoulos, George
By organisation
Signals and Systems
In the same journal
Control Engineering Practice
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 228 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 114 hits
CiteExportLink to record
Permanent link

Direct link
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
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf