Improved Nonlinear Model Predictive Control Based Fast Trajectory Tracking for a Quadrotor Unmanned Aerial Vehicle

被引:0
|
作者
Ma, Hongyue [1 ]
Gao, Yufeng [2 ]
Yang, Yongsheng [1 ]
Xu, Shoulin [1 ]
机构
[1] Shanghai Maritime Univ, Inst Logist Sci & Engn, Shanghai 201306, Peoples R China
[2] Beijing Inst Spacecraft Syst Engn, Beijing 100194, Peoples R China
基金
中国国家自然科学基金; 上海市自然科学基金;
关键词
continuation/generalized minimal residual (C/GMRES); nonlinear model predictive control (NMPC); trajectory tracking; FAULT-TOLERANT CONTROL; DESIGN;
D O I
10.3390/drones8080387
中图分类号
TP7 [遥感技术];
学科分类号
081102 ; 0816 ; 081602 ; 083002 ; 1404 ;
摘要
This article studies a nonlinear model predictive control (NMPC) scheme for the trajectory tracking efficiency of a quadcopter UAV. A cost function is first proposed that incorporates weighted increments of control forces in each direction, followed by a weighted summation. Furthermore, a contraction constraint for the cost function is introduced based on the numerical convergence of the system for the sampling period of the UAV control force. Then, an NMPC scheme based on improved continuous/generalized minimum residuals (C/GMRES) is proposed to obtain acceptable control performance and reduce computational complexity. The proposed control scheme achieves efficient and smooth tracking control of the UAV while guaranteeing the closed-loop stability of the system. Finally, simulation results are presented to illustrate the effectiveness and superior performance of the proposed NMPC control scheme.
引用
收藏
页数:20
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