TY - GEN
T1 - Embedded model predictive control of unmanned micro aerial vehicles
AU - Baca, Tomas
AU - Loianno, Giuseppe
AU - Saska, Martin
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/9/22
Y1 - 2016/9/22
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84991782118&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84991782118&partnerID=8YFLogxK
U2 - 10.1109/MMAR.2016.7575273
DO - 10.1109/MMAR.2016.7575273
M3 - Conference contribution
AN - SCOPUS:84991782118
T3 - 2016 21st International Conference on Methods and Models in Automation and Robotics, MMAR 2016
SP - 992
EP - 997
BT - 2016 21st International Conference on Methods and Models in Automation and Robotics, MMAR 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 21st International Conference on Methods and Models in Automation and Robotics, MMAR 2016
Y2 - 29 August 2016 through 1 September 2016
ER -