Model predictive control scheme for the autonomous flight of an unmanned quadrotor

K. Alexis, G. Nikolakopoulos, Antonios Tzes

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    This article presents a Model Predictive Control (MPC) scheme for the Autonomous flight of an unmanned quadrotor. The nonlinear dynamic equations are modeled by a set of Piecewise Affine (PWA) systems, each one for a different operating point of the quadrotor's translational and rotational motions. The proposed control scheme is hierarchical and is consisted by an integral model predictive controller for the translational motions tracking, followed by a model predictive control scheme for the quadrotor's attitude motions' tracking. By the utilization of a PWA realization of the system, the controller is computed for a larger part of the flight envelope of the system. In addition the physical constraints of the system have been also taken into account during the controller design process. Simulation studies are illustrated to prove the efficacy of the proposed control scheme.

    Original languageEnglish (US)
    Title of host publicationProceedings - ISIE 2011
    Subtitle of host publication2011 IEEE International Symposium on Industrial Electronics
    Pages2243-2248
    Number of pages6
    DOIs
    StatePublished - Sep 21 2011
    Event2011 IEEE International Symposium on Industrial Electronics, ISIE 2011 - Gdansk, Poland
    Duration: Jun 27 2011Jun 30 2011

    Other

    Other2011 IEEE International Symposium on Industrial Electronics, ISIE 2011
    CountryPoland
    CityGdansk
    Period6/27/116/30/11

    Fingerprint

    Model predictive control
    Controllers
    Flight envelopes

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Industrial and Manufacturing Engineering

    Cite this

    Alexis, K., Nikolakopoulos, G., & Tzes, A. (2011). Model predictive control scheme for the autonomous flight of an unmanned quadrotor. In Proceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics (pp. 2243-2248). [5984510] https://doi.org/10.1109/ISIE.2011.5984510

    Model predictive control scheme for the autonomous flight of an unmanned quadrotor. / Alexis, K.; Nikolakopoulos, G.; Tzes, Antonios.

    Proceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics. 2011. p. 2243-2248 5984510.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Alexis, K, Nikolakopoulos, G & Tzes, A 2011, Model predictive control scheme for the autonomous flight of an unmanned quadrotor. in Proceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics., 5984510, pp. 2243-2248, 2011 IEEE International Symposium on Industrial Electronics, ISIE 2011, Gdansk, Poland, 6/27/11. https://doi.org/10.1109/ISIE.2011.5984510
    Alexis K, Nikolakopoulos G, Tzes A. Model predictive control scheme for the autonomous flight of an unmanned quadrotor. In Proceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics. 2011. p. 2243-2248. 5984510 https://doi.org/10.1109/ISIE.2011.5984510
    Alexis, K. ; Nikolakopoulos, G. ; Tzes, Antonios. / Model predictive control scheme for the autonomous flight of an unmanned quadrotor. Proceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics. 2011. pp. 2243-2248
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