In this paper, a novel control strategy based on model predictive control is proposed for tracking the trajectory of unmanned aerial vehicles (UAV). First, the dynamic model of an unmanned aerial vehicle UAV is established by considering the linear velocities in terms of the analyzed system’s attitude angles. The UAV’s dynamic model is suitable for kinematic control by using two attitude angles as control inputs. The controller design is made up of an output feedback controller formed by the error variables, which are the difference between the measured output and the reference variables. Then, a model predictive control is established by considering an optimization problem with a performance index and the corresponding constraints. Furthermore, the stochastic properties of the UAV dynamic model are taken into account in this research study. The measured outputs provided by the sensors are constrained by the topological characteristics of the unmanned aerial vehicle to be analyzed. Finally, a numerical experiment and its conclusions are presented, demonstrating that the proposed control strategy provides optimal trajectory tracking.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Optimized Model Predictive Control for Unmanned Aerial Vehicles with Sensor Uncertainties




    Erscheinungsdatum :

    2022-07-13


    Format / Umfang :

    1113814 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Distributed Model Predictive Control for Unmanned Aerial Vehicles

    Mansouri, Sina Sharif / Nikolakopoulos, George / Gustafsson, Thomas | BASE | 2015

    Freier Zugriff

    Robust Model Predictive Control of Unmanned Aerial Vehicles Using Waysets

    Shekhar, Rohan C. / Kearney, Michael / Shames, Iman | AIAA | 2015



    Model Predictive Control Based Dynamic Geofence System for Unmanned Aerial Vehicles

    Zhang, Songyuan / Wei, Dong / Huynh, Minh Quan et al. | AIAA | 2017


    Affordable, Optimized Structures for Unmanned Aerial Vehicles

    Saripalli, S. / Association for Unmanned Vehicle Systems International | British Library Conference Proceedings | 1995