Embedded model predictive control of unmanned micro aerial vehicles

Tomas Baca, Giuseppe Loianno, Martin Saska

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

Abstract

We propose a lightweight embedded system for stabilization and control of Unmanned Aerial Vehicles (UAVs) and particularly Micro Aerial Vehicles (MAVs). The system relies solely on onboard sensors to localize the MAV, which makes it suitable for experiments in GPS-denied environments. The system utilizes predictive controllers to find optimal control actions for the aircraft using only onboard computational resources. To show the practicality of the proposed system, we present several indoor and outdoor experiments with multiple quadrotor helicopters which demonstrate its capability of trajectory tracking and disturbance rejection.

Original languageEnglish (US)
Title of host publication2016 21st International Conference on Methods and Models in Automation and Robotics, MMAR 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages992-997
Number of pages6
ISBN (Electronic)9781509018666
DOIs
StatePublished - Sep 22 2016
Event21st International Conference on Methods and Models in Automation and Robotics, MMAR 2016 - Miedzyzdroje, Poland
Duration: Aug 29 2016Sep 1 2016

Publication series

Name2016 21st International Conference on Methods and Models in Automation and Robotics, MMAR 2016

Other

Other21st International Conference on Methods and Models in Automation and Robotics, MMAR 2016
CountryPoland
CityMiedzyzdroje
Period8/29/169/1/16

ASJC Scopus subject areas

  • Control and Optimization
  • Control and Systems Engineering
  • Artificial Intelligence

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  • Cite this

    Baca, T., Loianno, G., & Saska, M. (2016). Embedded model predictive control of unmanned micro aerial vehicles. In 2016 21st International Conference on Methods and Models in Automation and Robotics, MMAR 2016 (pp. 992-997). [7575273] (2016 21st International Conference on Methods and Models in Automation and Robotics, MMAR 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MMAR.2016.7575273