Model predictive quadrotor indoor position control

Kostas Alexis, Christos Papachristos, George Nikolakopoulos, Antonios Tzes

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

    Abstract

    This article addresses the control problem of quadrotors in environments where absolute-localization data (GPS, positioning from external cameras) is inadequate. Based on an attached IMU and an optical flow sensor the quadrotor's translational velocity is estimated using an Extended Kalman Filter. Subject to the velocity measurements, the roll, pitch and yaw (RPY) angles, the angular rates and the translational accelerations a switching Model Predictive Controller is designed. The quadrotor dynamics is linearized at various operating points according to the angular rates and the RP-angles. The switching is inferred according to the various linearized models of the quadrotor. The controller is applied on a quadrotor prototype in low-altitude position hold maneuvers at very constrained environments. The experimental results indicate the overall system's efficiency in position/altitude set-point maneuvers.

    Original languageEnglish (US)
    Title of host publication2011 19th Mediterranean Conference on Control and Automation, MED 2011
    Pages1247-1252
    Number of pages6
    DOIs
    StatePublished - Sep 8 2011
    Event2011 19th Mediterranean Conference on Control and Automation, MED 2011 - Corfu, Greece
    Duration: Jun 20 2011Jun 23 2011

    Other

    Other2011 19th Mediterranean Conference on Control and Automation, MED 2011
    CountryGreece
    CityCorfu
    Period6/20/116/23/11

    Fingerprint

    Position control
    Controllers
    Optical flows
    Extended Kalman filters
    Velocity measurement
    Global positioning system
    Cameras
    Sensors

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Alexis, K., Papachristos, C., Nikolakopoulos, G., & Tzes, A. (2011). Model predictive quadrotor indoor position control. In 2011 19th Mediterranean Conference on Control and Automation, MED 2011 (pp. 1247-1252). [5983144] https://doi.org/10.1109/MED.2011.5983144

    Model predictive quadrotor indoor position control. / Alexis, Kostas; Papachristos, Christos; Nikolakopoulos, George; Tzes, Antonios.

    2011 19th Mediterranean Conference on Control and Automation, MED 2011. 2011. p. 1247-1252 5983144.

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

    Alexis, K, Papachristos, C, Nikolakopoulos, G & Tzes, A 2011, Model predictive quadrotor indoor position control. in 2011 19th Mediterranean Conference on Control and Automation, MED 2011., 5983144, pp. 1247-1252, 2011 19th Mediterranean Conference on Control and Automation, MED 2011, Corfu, Greece, 6/20/11. https://doi.org/10.1109/MED.2011.5983144
    Alexis K, Papachristos C, Nikolakopoulos G, Tzes A. Model predictive quadrotor indoor position control. In 2011 19th Mediterranean Conference on Control and Automation, MED 2011. 2011. p. 1247-1252. 5983144 https://doi.org/10.1109/MED.2011.5983144
    Alexis, Kostas ; Papachristos, Christos ; Nikolakopoulos, George ; Tzes, Antonios. / Model predictive quadrotor indoor position control. 2011 19th Mediterranean Conference on Control and Automation, MED 2011. 2011. pp. 1247-1252
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