Experimental verification of the model predictive control with disturbance rejection for quadrotors

被引：0

作者：

Wang, Zhenwei ^{[1
]}

Akiyama, Kentaro ^{[1
]}

Nonaka, Kenichiro ^{[1
]}

Sekiguchi, Kazuma ^{[1
]}

机构：

[1] Univ Tokyo City Univ, Dept Mech Syst Engn, Tokyo, Japan

来源：

2015 54TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE) | 2015年

关键词：

Flying robots; Data fusion; Disturbance observer; Model predictive control;

D O I：

暂无

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 paper, we describe a model predictive control (MPC) for small unmanned aerial vehicles (UAVs) like the AR. Drone. By storing the disturbance information, we share it to other UAVs on the same path so that the other UAVs can know the disturbance in advance. Moreover, other UAVs are possible to use the disturbance information in the prediction steps. In addition, the prior disturbance information can be included in the model, and we use the model predictive control to perform the optimization calculation. As the result, the UAVs can prepare to the disturbance before it affects the UAVs, which make them possible to improve the stability of the flight. We verify this approach through the simulation and experiment.

引用

页码：778 / 783

页数：6

共 50 条

[41] Position Sensorless Fuzzy Active Disturbance Rejection Control of PMSM Based on Model Predictive Control
Zhao, Yue
Deng, Zhiquan
Ge, Suwan
[J]. 2023 IEEE INTERNATIONAL ELECTRIC MACHINES & DRIVES CONFERENCE, IEMDC, 2023,
[42] Wind and Payload Disturbance Rejection Control Based on Adaptive Neural Estimators: Application on Quadrotors
Enrique Sierra, Jesus
Santos, Matilde
[J]. COMPLEXITY, 2019, 2019
[43] A lateral control strategy for unmanned ground vehicles with model predictive control and active disturbance rejection control
Zuo, Zhiqiang
Yang, Mengjia
Wang, Haoyu
Wang, Yijing
Wang, Li
Luo, Xiaoyuan
[J]. TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2021, 43 (15) : 3473 - 3482
[44] Disturbance rejection using a simplified predictive control algorithm
Zhao, FT
Gupta, YP
[J]. INDUSTRIAL & ENGINEERING CHEMISTRY RESEARCH, 2005, 44 (02) : 381 - 390
[45] Predictive Active Disturbance Rejection Control for Processes with Delay
Zheng Qinling
Gao Zhiqiang
[J]. 2013 32ND CHINESE CONTROL CONFERENCE (CCC), 2013, : 4108 - 4113
[46] Attitude control design of missiles with dual control based on model predictive control and active disturbance rejection control
Bi, Yong-Tao
Wang, Yu-Hang
Yao, Yu
[J]. Yuhang Xuebao/Journal of Astronautics, 2015, 36 (12): : 1373 - 1383
[47] Model Predictive Control for Disturbance Rejection and Robust Stability in Buck-Boost Converter
Alam, Aftab
Tao, Lei
Habib, Kashif
Khan, Shahbaz
[J]. PROCEEDINGS OF 2016 IEEE ADVANCED INFORMATION MANAGEMENT, COMMUNICATES, ELECTRONIC AND AUTOMATION CONTROL CONFERENCE (IMCEC 2016), 2016, : 892 - 895
[48] Nonlinear Model Predictive Control for Disturbance Rejection in Isoenergetic-isochoric Flash Processes
Ritschel, Tobias K. S.
Jorgensen, John Bagterp
[J]. IFAC PAPERSONLINE, 2019, 52 (01): : 796 - 801
[49] RNN based Disturbance Rejection Model Predictive Control for Waste Heat LTTD Process
Pattnaik, Biren
Subbian, Sutha
Narayanan, Nambi
Jalihal, Purnima
[J]. OCEANS 2022, 2022,
[50] Experimental verification of stabilising predictive control
Zelinka, P
Rohal-Ilkiv, B
Kuznetsov, AG
[J]. CONTROL ENGINEERING PRACTICE, 1999, 7 (05) : 601 - 610

← 1 2 3 4 5 →