Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Control of ARWs
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-0020-6020
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-3557-6782
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: 0000-0003-3922-1735
2023 (English)In: Aerial Robotic Workers: Design, Modeling, Control, Vision, and Their Applications / [ed] George Nikolakopoulos, Sina Sharif Mansouri, Christoforos Kanellakis, Elsevier, 2023, p. 49-65Chapter in book (Other academic)
Abstract [en]

This Chapter focuses on Aerial Robotic Workers (ARWs) various control methods to successfully track the desired states, waypoints, and trajectories. Additionally, this Chapter discusses the regulation from the motor commands level to the accurate tracking of waypoints in 3D space. Various model-based control frameworks are presented based on the modeled dynamics of the Modeling for ARWs (Chapter 3). Initially, a classical Proportional-Integral-Derivative (PID) control scheme is introduced, while in the sequel, a Linear Quadratic Regulator (LQR) and a Model Predictive Controller (MPC) are designed for the linearized dynamics of ARWs. In the sequel, a Nonlinear-MPC (NMPC) version of the simplified position control scheme is given. Finally, a switching MPC is presented for the attitude regulation of a reconfigurable ARW.

Place, publisher, year, edition, pages
Elsevier, 2023. p. 49-65
Keywords [en]
Proportional-integral-derivative controller, Model predictive control, Linear quadratic regulator, Nonlinear control
National Category
Control Engineering
Research subject
Robotics and Artificial Intelligence
Identifiers
URN: urn:nbn:se:ltu:diva-96924DOI: 10.1016/B978-0-12-814909-6.00010-XScopus ID: 2-s2.0-85150085870ISBN: 978-0-12-814909-6 (print)OAI: oai:DiVA.org:ltu-96924DiVA, id: diva2:1752768
Available from: 2023-04-24 Created: 2023-04-24 Last updated: 2023-05-08Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full textScopus

Authority records

Patel, AkashBanerjee, AvijitPapadimitriou, AndreasLindqvist, Björn

Search in DiVA

By author/editor
Patel, AkashBanerjee, AvijitPapadimitriou, AndreasLindqvist, Björn
By organisation
Signals and Systems
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetric score

doi
isbn
urn-nbn
Total: 98 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf