@inproceedings{de31dbf657824ae998303d1554a9fa33,
title = "Switching Model Predictive Control for a quadrotor Helicopter under severe environmental flight conditions",
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.",
keywords = "Disturbance attenuation, Model predictive control, Unmanned aerial vehicles",
author = "K. Alexis and G. Nikolakopoulos and Y. Koveos and A. Tzes",
note = "Funding Information: This research has been co-financed by the European Union (European Social Fund - ESF) and Greek national funds through the Operational Program ”Education and Lifelong Learning” of the National Strategic Reference Framework (NSRF) - Research Funding Program: Heracleitus II. Investing in knowledge society through the European Social Fund. Project number: 12-260-6.",
year = "2011",
doi = "10.3182/20110828-6-IT-1002.03010",
language = "English (US)",
isbn = "9783902661937",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
number = "1 PART 1",
pages = "11913--11918",
booktitle = "Proceedings of the 18th IFAC World Congress",
edition = "1 PART 1",
}