TY - GEN
T1 - Experimental model predictive attitude tracking control of a quadrotor helicopter subject to wind-gusts
AU - Alexis, Kostas
AU - Nikolakopoulos, George
AU - Tzes, Anthony
PY - 2010
Y1 - 2010
N2 - Accurate navigation and control of unmanned quadrotor helicopters in harsh environmental conditions due to wind disturbances is an open challenge. The aim of the work presented in this article is the design of a Model Predictive Control scheme based on Piecewise Affine (PWA) modeling of an Unmanned quadrotor Helicopter (UqH) in attitude maneuvers. The suggested algorithm is verified in experimental studies in the execution of sudden maneuvers subject to forcible wind disturbances. The UqH manages to reject the induced wind-disturbances while performing accurate attitude tracking.
AB - Accurate navigation and control of unmanned quadrotor helicopters in harsh environmental conditions due to wind disturbances is an open challenge. The aim of the work presented in this article is the design of a Model Predictive Control scheme based on Piecewise Affine (PWA) modeling of an Unmanned quadrotor Helicopter (UqH) in attitude maneuvers. The suggested algorithm is verified in experimental studies in the execution of sudden maneuvers subject to forcible wind disturbances. The UqH manages to reject the induced wind-disturbances while performing accurate attitude tracking.
UR - http://www.scopus.com/inward/record.url?scp=77957000034&partnerID=8YFLogxK
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U2 - 10.1109/MED.2010.5547844
DO - 10.1109/MED.2010.5547844
M3 - Conference contribution
AN - SCOPUS:77957000034
SN - 9781424480920
T3 - 18th Mediterranean Conference on Control and Automation, MED'10 - Conference Proceedings
SP - 1461
EP - 1466
BT - 18th Mediterranean Conference on Control and Automation, MED'10 - Conference Proceedings
T2 - 18th Mediterranean Conference on Control and Automation, MED'10
Y2 - 23 June 2010 through 25 June 2010
ER -