Switching model predictive attitude control for a quadrotor helicopter subject to atmospheric disturbances

被引：263
|
作者：
Alexis, Kostas [2 ]
Nikolakopoulos, George [1 ]
Tzes, Anthony [2 ]
机构：
[1] Lulea Univ Technol, Comp Sci Elect & Space Engn Dept, SE-97753 Lulea, Sweden
[2] Univ Patras, Dept Elect & Comp Engn, Rion 26500, Greece
来源：
CONTROL ENGINEERING PRACTICE | 2011年 / 19卷 / 10期
关键词：
Unmanned quadrotor helicopter; Model predictive control; Switching control; Atmospheric disturbances;
D O I：
10.1016/j.conengprac.2011.06.010
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this article a switching model predictive attitude controller for an unmanned quadrotor helicopter subject to atmospheric disturbances is presented. The proposed control scheme is computed based on a piecewise affine (PWA) model of the quadrotor's attitude dynamics, where the effects of the atmospheric turbulence are taken into consideration as additive disturbances. The switchings among the PWA models are ruled by the rate of the rotation angles and for each PWA system a corresponding model predictive controller is computed. The suggested algorithm is verified in experimental studies in the execution of sudden maneuvers subject to forcible wind disturbances. The quadrotor rejects the induced wind disturbances while performing accurate attitude tracking. (C) 2011 Elsevier Ltd. All rights reserved.
引用
收藏
页码：1195 / 1207
页数：13
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