Nonlinear Model Predictive Control with Constraint Satisfactions for a Quadcopter

被引：10

作者：

Wang, Ye ^{[1
]}

Ramirez-Jaime, Andres ^{[2
]}

Xu, Feng ^{[3
]}

Puig, Vicenc ^{[1
]}

机构：

[1] Univ Politecn Catalunya BarcelonaTech UPC, CSIC UPC, Inst Robot & Informat Ind, Adv Control Syst SAC Res Grp, C Llorens & Artigas 4-6, Barcelona 08028, Spain

[2] Univ Andes, Dept Ingn Elect & Elect, Carrera 1,18A-10, Bogota, Colombia

[3] Tsinghua Univ, Grad Sch Shenzhen, Ctr Intelligent Control & Telesci, Shenzhen 518055, Peoples R China

来源：

13TH EUROPEAN WORKSHOP ON ADVANCED CONTROL AND DIAGNOSIS (ACD 2016) | 2017年 / 783卷

基金：

中国国家自然科学基金;

关键词：

D O I：

10.1088/1742-6596/783/1/012025

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a nonlinear model predictive control (NMPC) strategy combined with constraint satisfactions for a quadcopter. The full dynamics of the quadcopter describing the attitude and position are nonlinear, which are quite sensitive to changes of inputs and disturbances. By means of constraint satisfactions, partial nonlinearities and modeling errors of the control-oriented model of full dynamics can be transformed into the inequality constraints. Subsequently, the quadcopter can be controlled by an NMPC controller with the updated constraints generated by constraint satisfactions. Finally, the simulation results applied to a quadcopter simulator are provided to show the effectiveness of the proposed strategy.

引用

页数：12

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