Model predictive control scheme for the autonomous flight of an unmanned quadrotor

K. Alexis, G. Nikolakopoulos, A. Tzes

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

Abstract

This article presents a Model Predictive Control (MPC) scheme for the Autonomous flight of an unmanned quadrotor. The nonlinear dynamic equations are modeled by a set of Piecewise Affine (PWA) systems, each one for a different operating point of the quadrotor's translational and rotational motions. The proposed control scheme is hierarchical and is consisted by an integral model predictive controller for the translational motions tracking, followed by a model predictive control scheme for the quadrotor's attitude motions' tracking. By the utilization of a PWA realization of the system, the controller is computed for a larger part of the flight envelope of the system. In addition the physical constraints of the system have been also taken into account during the controller design process. Simulation studies are illustrated to prove the efficacy of the proposed control scheme.

Original languageEnglish (US)
Title of host publicationProceedings - ISIE 2011
Subtitle of host publication2011 IEEE International Symposium on Industrial Electronics
Pages2243-2248
Number of pages6
DOIs
StatePublished - 2011
Event2011 IEEE International Symposium on Industrial Electronics, ISIE 2011 - Gdansk, Poland
Duration: Jun 27 2011Jun 30 2011

Publication series

NameProceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics

Other

Other2011 IEEE International Symposium on Industrial Electronics, ISIE 2011
CountryPoland
CityGdansk
Period6/27/116/30/11

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Fingerprint Dive into the research topics of 'Model predictive control scheme for the autonomous flight of an unmanned quadrotor'. Together they form a unique fingerprint.

Cite this