Paper Info
Title
Unified NMPC framework for attitude and position control for a VTOL UAV.
Abstract
In this article, a parameterized nonlinear model predictive control strategy is developed for trajectory tracking and stabilization of a quadrotor unmanned aerial vehicle. The control strategy handles structurally with constraints on commands and input derivatives and deals with model uncertainties and white noise on whole state vector. Moreover, the resulting parametrization decreases the number of decision variables related to the nonlinear optimization problem substantially, which highly facilitates the attainment of the optimal control sequence. The proposed nonlinear model predictive control framework also enables the use of different nonlinear formulations of the unmanned aerial vehicle whatever the complexity of the model being used. Simulation results for different flight conditions are presented in order to show the efficiency of the tracking performance and highlight the advantages of the proposed control scheme.
Year
DOI
Venue
2019
10.1177/0959651819847053
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
Keywords
DocType
Volume
Parameterized NMPC,UAV,constraints,attitude and position control,nonlinear optimization
Journal
233.0
Issue
ISSN
Citations 
SP7
0959-6518
1
PageRank 
References 
Authors
0.41
0
2
Name
Order
Citations
PageRank
André Murilo172.70
Renato Vilela Lopes231.49