Model Predictive Control Applied to a Quadrotor UAV

Autores

  • Tiago Santana Lourenço UnB
  • André Murilo de Almeida Pinto UnB
  • Renato Vilela Lopes UnB

DOI:

https://doi.org/10.26512/ripe.v2i20.15012

Resumo

This paper describes and analyzes the performance of two different formulations of model predictive control (MPC) applied to a quadrotor unmanned aerial vehicle (UAV), one that explicitly handles constraints and another that doesn’t. The objective of the MPC strategy is to compute an optimal sequence of actions within its prediction horizon to track desired states. The optimization strategies adopted in this work are based on an approximated dynamical model for prediction while imposing a quadratic cost function. One prominent vantage of MPC is its ability to handle constraints inherent to the process, based either on actuators’ limitations or security concerns. Through simulations, the impacts of imposing a convex set of constraints is analyzed, regarding the performance and computational effort involved in solving a trajectory tracking problem.
Keywords: Optimal control, Predictive Control, Quadrotors, UAVs

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Publicado

2017-02-08

Como Citar

Lourenço, T. S., Pinto, A. M. de A., & Lopes, R. V. (2017). Model Predictive Control Applied to a Quadrotor UAV. Revista Interdisciplinar De Pesquisa Em Engenharia, 2(20), 164–178. https://doi.org/10.26512/ripe.v2i20.15012

Edição

v. 2 n. 20 (2016): MODELING SIMULATION AND CONTROL OF AEROSPACE AND NAVAL STRUCTURES DYNAMICS (II)

Seção

Artigos

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