Paper Info
Title
Trajectory Tracking And Iterative Learning On An Unmanned Aerial Vehicle Using Parametrized Model Predictive Control
Abstract
A parametrization of state and input trajectories is used to approximate an infinite-horizon optimal control problem encountered in model predictive control. The resulting algorithm is discussed with respect to trajectory tracking, including the problem of generating feasible trajectories. In order to account for unmodeled repeatable disturbances an iterative learning scheme is applied, and as a result, the tracking performance can be improved over consecutive trials. The algorithm is applied to an unmanned aerial vehicle and shown to be computationally efficient, running onboard at a sampling rate of 100 Hz during the experiments.
Year
Venue
Field
2017
2017 IEEE 56TH ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC)
Optimal control,Parametrization,Computer science,Control theory,Model predictive control,Sampling (signal processing),Vehicle dynamics,Iterative learning control,Trajectory
DocType
ISSN
Citations 
Conference
0743-1546
0
PageRank 
References 
Authors
0.34
6
3
Name
Order
Citations
PageRank
Carmelo Sferrazza193.61
Michael Muehlebach2285.61
Raffaello D'andrea31592162.96