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Model predictive quadrotor indoor position control
Department of Electrical and Computer Engineering, University of Patras.
Department of Electrical and Computer Engineering, University of Patras.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
Department of Electrical and Computer Engineering, University of Patras.
2011 (English)In: 19th Mediterranean Conference on Control & Automation (MED 2011): [Aquis Corfu Holiday Palace], Corfu, Greece, 20 - 23 June 2011, Piscataway, NJ: IEEE Communications Society, 2011Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Communications Society, 2011.
Keywords [en]
Model Predictive Control, Quadrotor, Optic Flow, Information technology - Automatic control
Keywords [sv]
Informationsteknik - Reglerteknik
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-32714DOI: 10.1109/MED.2011.5983144Scopus ID: 2-s2.0-80052370346Local ID: 74a00d08-1df9-4157-9fdb-ed6dc2e65281OAI: oai:DiVA.org:ltu-32714DiVA, id: diva2:1005948
Conference
Mediterranean Conference on Control and Automation : 20/06/2011 - 23/06/2011
Note

Godkänd; 2011; Bibliografisk uppgift: K. Alexis, C. Papachristos, G. Nikolakopoulos and A. Tzes, "Model Predictive Quadrotor Control Based on Optical Flow and IMU Sensor Data Fusion", in the 19th Mediterranean Conference on Control and Automation, June 20-23, Corfu, Greece. ; 20111124 (andbra)

Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2018-07-10Bibliographically approved

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  • apa
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