Model predictive quadrotor control

Attitude, altitude and position experimental studies

K. Alexis, G. Nikolakopoulos, Antonios Tzes

Research output: Contribution to journalArticle

Abstract

This study addresses the control problem of an unmanned quadrotor in an indoor environment where there is lack of absolute localisation 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 linearised 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 modelling 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 manoeuvres experiments. The experimental results indicate the overall system's efficiency in position/altitude/attitude set-point manoeuvres.

Original languageEnglish (US)
Pages (from-to)1812-1827
Number of pages16
JournalIET Control Theory and Applications
Volume6
Issue number12
DOIs
StatePublished - Aug 16 2012

Fingerprint

Model predictive control
Model Predictive Control
Experimental Study
Controller
Controllers
Flight envelopes
Sensor Fusion
Sonar
Units of measurement
Sensors
Point Sets
Inertia
Envelope
Optics
Control Problem
Fusion reactions
Horizontal
Disturbance
Trajectories
Prototype

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Control and Optimization
  • Electrical and Electronic Engineering

Cite this

Model predictive quadrotor control : Attitude, altitude and position experimental studies. / Alexis, K.; Nikolakopoulos, G.; Tzes, Antonios.

In: IET Control Theory and Applications, Vol. 6, No. 12, 16.08.2012, p. 1812-1827.

Research output: Contribution to journalArticle

@article{6a762255d5c046fa9185abf79d6f0e1b,
title = "Model predictive quadrotor control: Attitude, altitude and position experimental studies",
abstract = "This study addresses the control problem of an unmanned quadrotor in an indoor environment where there is lack of absolute localisation 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 linearised 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 modelling 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 manoeuvres experiments. The experimental results indicate the overall system's efficiency in position/altitude/attitude set-point manoeuvres.",
author = "K. Alexis and G. Nikolakopoulos and Antonios Tzes",
year = "2012",
month = "8",
day = "16",
doi = "10.1049/iet-cta.2011.0348",
language = "English (US)",
volume = "6",
pages = "1812--1827",
journal = "IET Control Theory and Applications",
issn = "1751-8644",
publisher = "Institution of Engineering and Technology",
number = "12",

}

TY - JOUR

T1 - Model predictive quadrotor control

T2 - Attitude, altitude and position experimental studies

AU - Alexis, K.

AU - Nikolakopoulos, G.

AU - Tzes, Antonios

PY - 2012/8/16

Y1 - 2012/8/16

N2 - This study addresses the control problem of an unmanned quadrotor in an indoor environment where there is lack of absolute localisation 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 linearised 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 modelling 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 manoeuvres experiments. The experimental results indicate the overall system's efficiency in position/altitude/attitude set-point manoeuvres.

AB - This study addresses the control problem of an unmanned quadrotor in an indoor environment where there is lack of absolute localisation 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 linearised 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 modelling 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 manoeuvres experiments. The experimental results indicate the overall system's efficiency in position/altitude/attitude set-point manoeuvres.

UR - http://www.scopus.com/inward/record.url?scp=84878464431&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84878464431&partnerID=8YFLogxK

U2 - 10.1049/iet-cta.2011.0348

DO - 10.1049/iet-cta.2011.0348

M3 - Article

VL - 6

SP - 1812

EP - 1827

JO - IET Control Theory and Applications

JF - IET Control Theory and Applications

SN - 1751-8644

IS - 12

ER -