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Switching Model Predictive Control for Online Structural Reformations of a Foldable Quadrotor
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-6415-6982
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
2020 (English)In: Proceedings: IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society, IEEE, 2020, p. 682-687Conference paper, Published paper (Refereed)
Abstract [en]

The aim of this article is the formulation of a switching model predictive control framework for the case of a foldable quadrotor with the ability to retain the overall control quality during online structural reformations. The majority of the related scientific publications consider fixed morphology of the aerial vehicles. Recent advances in mechatronics have brought novel considerations for generalized aerial robotic designs with the ability to alter their morphology in order to adapt to their environment, thus enhancing their capabilities. Simulation results are provided to prove the efficacy of the selected control scheme.

Place, publisher, year, edition, pages
IEEE, 2020. p. 682-687
Series
Annual Conference of Industrial Electronics Society, E-ISSN 2577-1647
Keywords [en]
Model based attitude control, Foldable quadrotor, Switching control
National Category
Robotics and automation
Research subject
Robotics and Artificial Intelligence
Identifiers
URN: urn:nbn:se:ltu:diva-81483DOI: 10.1109/IECON43393.2020.9254691ISI: 000637323700108Scopus ID: 2-s2.0-85097754783OAI: oai:DiVA.org:ltu-81483DiVA, id: diva2:1502508
Conference
46th Annual Conference of the IEEE Industrial Electronics Society (IECON 2020), 19-21 October, 2020, Singapore (Online)
Note

ISBN för värdpublikation: 978-1-7281-5414-5

Available from: 2020-11-20 Created: 2020-11-20 Last updated: 2025-02-09Bibliographically approved

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Papadimitriou, AndreasNikolakopoulos, George

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CiteExportLink to record
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Citation style
  • apa
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  • de-DE
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Output format
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