Switching model predictive attitude control for a quadrotor helicopter subject to atmospheric disturbances

Kostas Alexis, George Nikolakopoulos, Anthony Tzes

Research output: Contribution to journalArticle

Abstract

In this article a switching model predictive attitude controller for an unmanned quadrotor helicopter subject to atmospheric disturbances is presented. The proposed control scheme is computed based on a piecewise affine (PWA) model of the quadrotor's attitude dynamics, where the effects of the atmospheric turbulence are taken into consideration as additive disturbances. The switchings among the PWA models are ruled by the rate of the rotation angles and for each PWA system a corresponding model predictive controller is computed. The suggested algorithm is verified in experimental studies in the execution of sudden maneuvers subject to forcible wind disturbances. The quadrotor rejects the induced wind disturbances while performing accurate attitude tracking.

Original languageEnglish (US)
Pages (from-to)1195-1207
Number of pages13
JournalControl Engineering Practice
Volume19
Issue number10
DOIs
StatePublished - Oct 2011

Keywords

  • Atmospheric disturbances\
  • Model predictive control
  • Switching control
  • Unmanned quadrotor helicopter

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Applied Mathematics

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