A robust control scheme for aerial path generation and tracking is proposed in this paper. The control structure is based on the MPC - Model Predictive Control- and the UDE -Uncertainty and Disturbance Estimator - approaches. Both algorithms can be used with simple controllers for becoming more robust with respect to nonlinear uncertainties and external disturbances. The proposed scheme is applied to a quadcopter vehicle. Experimental results confirm the well performance of the closed-loop system when tracking trajectories, even in the presence of perturbations.


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    Titel :

    Robust control scheme for trajectory generation and tracking for quadcopters vehicles: Experimental results*


    Beteiligte:
    Betancourt-Vera, J. (Autor:in) / Castillo, P. (Autor:in) / Lozano, R. (Autor:in) / Vidolov, B. (Autor:in)


    Erscheinungsdatum :

    01.06.2018


    Format / Umfang :

    3016061 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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