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
相关论文
共 50 条
  • [21] An Enhanced Model Predictive Controller for Quadrotor Attitude Quick Adjustment with Input Constraints and Disturbances
    Bin Li
    Yaxin Wang
    International Journal of Control, Automation and Systems, 2022, 20 : 648 - 659
  • [22] Extended State Observer based MPC for a Quadrotor Helicopter Subject to Wind Disturbances
    Lv, Tong
    Yang, Yanhua
    Chai, Li
    PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC), 2019, : 8206 - 8211
  • [23] Switching networked attitude control of an unmanned quadrotor
    George Nikolakopoulos
    Kostas Alexis
    International Journal of Control, Automation and Systems, 2013, 11 : 389 - 397
  • [24] Switching Networked Attitude Control of an Unmanned Quadrotor
    Nikolakopoulos, George
    Alexis, Kostas
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2013, 11 (02) : 389 - 397
  • [25] Model predictive quadrotor control: attitude, altitude and position experimental studies
    Alexis, K.
    Nikolakopoulos, G.
    Tzes, A.
    IET CONTROL THEORY AND APPLICATIONS, 2012, 6 (12): : 1812 - 1827
  • [26] Synergetic Approach To The Quadrotor Helicopter Control In An Environment With External Disturbances
    Veselov, Gennady
    Sklyyarov, Andrey
    Sklyarov, Sergey
    Semenov, Valeriy
    2016 INTERNATIONAL SIBERIAN CONFERENCE ON CONTROL AND COMMUNICATIONS (SIBCON), 2016,
  • [27] 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
  • [28] Method of Attitude Control for Quadrotor Helicopter Based on Disturbance Observer
    Jin, Guodong
    Lu, Libin
    PROCEEDINGS OF THE 2016 INTERNATIONAL CONFERENCE ON SENSOR NETWORK AND COMPUTER ENGINEERING, 2016, 68 : 364 - 369
  • [29] Quadrotor unmanned helicopter attitude control based on Improved ADRC
    Xia, Guo-Yan
    Liu, Zheng-Hua
    2014 IEEE CHINESE GUIDANCE, NAVIGATION AND CONTROL CONFERENCE (CGNCC), 2014, : 916 - 921
  • [30] Control of a Hovering Quadrotor UAV Subject to Periodic Disturbances
    Zaki, Hammad
    Unel, Mustafa
    2018 6TH INTERNATIONAL CONFERENCE ON CONTROL ENGINEERING & INFORMATION TECHNOLOGY (CEIT), 2018,
12345