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Switching model predictive attitude control for a quadrotor helicopter subject to atmospheric disturbances
Department of Electrical and Computer Engineering, University of Patras.
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.ORCID-id: 0000-0003-0126-1897
Department of Electrical and Computer Engineering, University of Patras.
2011 (engelsk)Inngår i: Control Engineering Practice, ISSN 0967-0661, E-ISSN 1873-6939, Vol. 19, nr 10, s. 1195-1207Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

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.

sted, utgiver, år, opplag, sider
2011. Vol. 19, nr 10, s. 1195-1207
HSV kategori
Forskningsprogram
Reglerteknik
Identifikatorer
URN: urn:nbn:se:ltu:diva-3961DOI: 10.1016/j.conengprac.2011.06.010ISI: 000295309900011Scopus ID: 2-s2.0-80052106299Lokal ID: 1ce7e9a6-0492-495c-a0d4-727c2cece352OAI: oai:DiVA.org:ltu-3961DiVA, id: diva2:976823
Merknad
Validerad; 2011; 20110627 (geonik)Tilgjengelig fra: 2016-09-29 Laget: 2016-09-29 Sist oppdatert: 2018-07-10bibliografisk kontrollert

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