Experimental Model Predictive Attitude Tracking Control of a Quadrotor Helicopter subject to Wind-Gusts

被引：26
|
作者：
Alexis, Kostas [1 ]
Nikolakopoulos, George [1 ]
Tzes, Anthony [1 ]
机构：
[1] Univ Patras, Dept Elect & Comp Engn, Rion 26500, Achaia, Greece
来源：
18TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION | 2010年
关键词：
SURVEILLANCE; DESIGN; UAV;
D O I：
10.1109/MED.2010.5547844
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Accurate navigation and control of unmanned quadrotor helicopters in harsh environmental conditions due to wind disturbances is an open challenge. The aim of the work presented in this article is the design of a Model Predictive Control scheme based on Piecewise Affine (PWA) modeling of an Unmanned quadrotor Helicopter (UqH) in attitude maneuvers. The suggested algorithm is verified in experimental studies in the execution of sudden maneuvers subject to forcible wind disturbances. The UqH manages to reject the induced wind-disturbances while performing accurate attitude tracking.
引用
收藏
页码：1461 / 1466
页数：6
相关论文
共 50 条
  • [1] Constrained Optimal Attitude Control of a Quadrotor Helicopter subject to Wind-Gusts: Experimental Studies
    Alexis, K.
    Nikolakopoulos, G.
    Tzes, A.
    2010 AMERICAN CONTROL CONFERENCE, 2010, : 4451 - 4455
  • [2] Design and Experimental Verification of a Constrained Finite Time Optimal Control Scheme for the Attitude Control of a Quadrotor Helicopter Subject to Wind Gusts
    Alexis, Kostas
    Nikolakopoulos, George
    Tzes, Anthony
    2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2010, : 1636 - 1641
  • [3] Switching model predictive attitude control for a quadrotor helicopter subject to atmospheric disturbances
    Alexis, Kostas
    Nikolakopoulos, George
    Tzes, Anthony
    CONTROL ENGINEERING PRACTICE, 2011, 19 (10) : 1195 - 1207
  • [4] ON TRAJECTORY TRACKING MODEL PREDICTIVE CONTROL OF AN UNMANNED QUADROTOR HELICOPTER SUBJECT TO AERODYNAMIC DISTURBANCES
    Alexis, K.
    Nikolakopoulos, G.
    Tzes, A.
    ASIAN JOURNAL OF CONTROL, 2014, 16 (01) : 209 - 224
  • [5] A Novel Robust Attitude Control for Quadrotor Aircraft Subject to Actuator Faults and Wind Gusts
    Guo, Yuying
    Jiang, Bin
    Zhang, Youmin
    IEEE-CAA JOURNAL OF AUTOMATICA SINICA, 2018, 5 (01) : 292 - 300
  • [6] A Novel Robust Attitude Control for Quadrotor Aircraft Subject to Actuator Faults and Wind Gusts
    Yuying Guo
    Bin Jiang
    Youmin Zhang
    IEEE/CAA Journal of Automatica Sinica, 2018, 5 (01) : 292 - 300
  • [7] Experimental Constrained Optimal Attitude Control of a Quadrotor Subject to Wind Disturbances
    Alexis, Kostas
    Nikolakopoulos, George
    Tzes, Anthony
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2014, 12 (06) : 1289 - 1302
  • [8] Experimental constrained optimal attitude control of a quadrotor subject to wind disturbances
    Kostas Alexis
    George Nikolakopoulos
    Anthony Tzes
    International Journal of Control, Automation and Systems, 2014, 12 : 1289 - 1302
  • [9] Robust Attitude Tracking Control of a Quadrotor Helicopter in the Presence of Uncertainty
    Ton, Chau T.
    Mackunis, William
    2012 IEEE 51ST ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), 2012, : 937 - 942
  • [10] Stabilization and trajectory tracking control for underactuated quadrotor helicopter subject to wind-gust disturbance
    MOHD ARIFFANAN MOHD BASRI
    ABDUL RASHID HUSAIN
    KUMERESAN A DANAPALASINGAM
    Sadhana, 2015, 40 : 1531 - 1553
12345