Switching Model Predictive Control for a quadrotor Helicopter under severe environmental flight conditions

K. Alexis, G. Nikolakopoulos, Y. Koveos, A. Tzes

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

Abstract

In this article a switching Model Predictive Controller for the attitude and hovering control of a prototype Unmanned quadrotor Helicopter (UqH) subject to atmospheric disturbances is presented. The control scheme is computed based on Piecewise Affine (PWA) models of the UqH's attitude and altitude dynamics, where the effects of the atmospheric turbulence are taken into consideration as additive disturbances. The switching of the MPC scheme is ruled by the estimation and the rate of the rotation angles, for the altitude and attitude control correspondingly. Extended experimental studies indicate the overall scheme's efficiency in hovering scenarios despite the applied wind-disturbances.

Original languageEnglish (US)
Title of host publicationProceedings of the 18th IFAC World Congress
PublisherIFAC Secretariat
Pages11913-11918
Number of pages6
Edition1 PART 1
ISBN (Print)9783902661937
DOIs
StatePublished - 2011

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
Volume44
ISSN (Print)1474-6670

Keywords

  • Disturbance attenuation
  • Model predictive control
  • Unmanned aerial vehicles

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Alexis, K., Nikolakopoulos, G., Koveos, Y., & Tzes, A. (2011). Switching Model Predictive Control for a quadrotor Helicopter under severe environmental flight conditions. In Proceedings of the 18th IFAC World Congress (1 PART 1 ed., pp. 11913-11918). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 44, No. 1 PART 1). IFAC Secretariat. https://doi.org/10.3182/20110828-6-IT-1002.03010