Experimental model predictive attitude tracking control of a quadrotor helicopter subject to wind-gusts

Kostas Alexis, George Nikolakopoulos, Anthony Tzes

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

Abstract

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.

Original languageEnglish (US)
Title of host publication18th Mediterranean Conference on Control and Automation, MED'10 - Conference Proceedings
Pages1461-1466
Number of pages6
DOIs
StatePublished - 2010
Event18th Mediterranean Conference on Control and Automation, MED'10 - Marrakech, Morocco
Duration: Jun 23 2010Jun 25 2010

Publication series

Name18th Mediterranean Conference on Control and Automation, MED'10 - Conference Proceedings

Other

Other18th Mediterranean Conference on Control and Automation, MED'10
CountryMorocco
CityMarrakech
Period6/23/106/25/10

ASJC Scopus subject areas

  • Control and Systems Engineering

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