Trabajo presentado a la 13th European Workshop on Advanced Control and Diagnosis (ACD 2016). ; This paper presents a nonlinear model predictive control (NMPC) strategy combined with constraint satisfactions for a quadcopter. The full dynamics of the quadcopter describing the attitude and position are nonlinear, which are quite sensitive to changes of inputs and disturbances. By means of constraint satisfactions, partial nonlinearities and modeling errors of the control-oriented model of full dynamics can be transformed into the inequality constraints. Subsequently, the quadcopter can be controlled by an NMPC controller with the updated constraints generated by constraint satisfactions. Finally, the simulation results applied to a quadcopter simulator are provided to show the eectiveness of the proposed strategy. ; This work has been partially funded by the Spanish Government (MINECO) through the project CICYT ECOCIS (ref. DPI2013-48243-C2-1-R), by MINECO and FEDER through the project CICYT HARCRICS (ref. DPI2014-58104-R), by the Natural Science Foundation of Guangdong (No.2015A030313881), by the National Natural Science Foundation of China (No.61673239) and the Shenzhen Key Lab of Space Robotic Technology and Telescience. ; Peer Reviewed
Nonlinear model predictive control with constraint satisfactions for a quadcopter
2017-01-01
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DDC: | 629 |