Model predictive quadrotor control: attitude, altitude, and position experimental studies
2012 (English)In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 6, no 12, 1812 – 1827- p.Article in journal (Refereed) Published
This article addresses the control problem of an unmanned quadrotor in an indoor environment where there is lack of absolute localization data. Based on an attached Inertia Measurement Unit, a sonar and an optic flow sensor, the state vector is estimated using sensor fusion algorithms. A novel Switching Model Predictive Controller is designed in order to achieve precise trajectory control, under the presence of forcible wind–gusts. The quadrotor’s attitude, altitude and horizontal linearized dynamics result in a set of Piecewise Affine models, enabling the controller to account for a larger part of the quadrotor’s flight envelope while modeling the effects of atmospheric disturbances as additive–affine terms in the system. The proposed controller algorithm accounts for the state and actuation constraints of the system. The controller is implemented on a quadrotor prototype in indoor position tracking, hovering and attitude maneuvers experiments. The experimental results indicate the overall system’s efficiency in position/altitude/attitude set–point maneuvers.
Place, publisher, year, edition, pages
2012. Vol. 6, no 12, 1812 – 1827- p.
Quadrotor, Information technology - Automatic control
Informationsteknik - Reglerteknik
Research subject Control Engineering
IdentifiersURN: urn:nbn:se:ltu:diva-7212DOI: 10.1049/iet-cta.2011.0348Local ID: 58b111b0-142f-47fd-adb2-11b2a695a702OAI: oai:DiVA.org:ltu-7212DiVA: diva2:980101
Validerad; 2012; 20120322 (geonik)2016-09-292016-09-29Bibliographically approved