Model predictive quadrotor indoor position control

Kostas Alexis, Christos Papachristos, George Nikolakopoulos, Anthony Tzes

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

Abstract

This article addresses the control problem of quadrotors in environments where absolute-localization data (GPS, positioning from external cameras) is inadequate. Based on an attached IMU and an optical flow sensor the quadrotor's translational velocity is estimated using an Extended Kalman Filter. Subject to the velocity measurements, the roll, pitch and yaw (RPY) angles, the angular rates and the translational accelerations a switching Model Predictive Controller is designed. The quadrotor dynamics is linearized at various operating points according to the angular rates and the RP-angles. The switching is inferred according to the various linearized models of the quadrotor. The controller is applied on a quadrotor prototype in low-altitude position hold maneuvers at very constrained environments. The experimental results indicate the overall system's efficiency in position/altitude set-point maneuvers.

Original languageEnglish (US)
Title of host publication2011 19th Mediterranean Conference on Control and Automation, MED 2011
Pages1247-1252
Number of pages6
DOIs
StatePublished - 2011
Event2011 19th Mediterranean Conference on Control and Automation, MED 2011 - Corfu, Greece
Duration: Jun 20 2011Jun 23 2011

Publication series

Name2011 19th Mediterranean Conference on Control and Automation, MED 2011

Other

Other2011 19th Mediterranean Conference on Control and Automation, MED 2011
CountryGreece
CityCorfu
Period6/20/116/23/11

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Alexis, K., Papachristos, C., Nikolakopoulos, G., & Tzes, A. (2011). Model predictive quadrotor indoor position control. In 2011 19th Mediterranean Conference on Control and Automation, MED 2011 (pp. 1247-1252). [5983144] (2011 19th Mediterranean Conference on Control and Automation, MED 2011). https://doi.org/10.1109/MED.2011.5983144