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Distributed Model P...
Distributed Model Predictive Control for Cooperative Landing
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- Bereza-Jarocinski, Robert (författare)
- KTH,Reglerteknik,KTH Royal Inst Technol, Sweden
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- Persson, Linnea, 1992- (författare)
- KTH,Reglerteknik,KTH Royal Inst Technol, Sweden
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- Wahlberg, Bo, 1959- (författare)
- Linköpings universitet,KTH,Reglerteknik,Linköping Univ, Div Automat Control, S-58183 Linköping, Sweden.,Tekniska fakulteten,KTH Royal Inst Technol, Sweden
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(creator_code:org_t)
- Elsevier BV, 2020
- 2020
- Engelska.
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Ingår i: Proceedings 21st IFAC World Congress on Automatic Control - Meeting Societal Challenges. - : Elsevier BV. ; , s. 15180-15185
- Relaterad länk:
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https://doi.org/10.1...
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https://doi.org/10.1...
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https://urn.kb.se/re...
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Abstract
Ämnesord
Stäng
- We design, implement and test two control algorithms for autonomously landing a drone on an autonomous boat. The first algorithm uses distributed model predictive control (DMPC), while the second combines a cascade controller with DMPC. The algorithms are implemented on a real drone, while the boat's motion is simulated, and their performance is compared to a centralized model predictive controller. Field experiments are performed, where all algorithms show an ability to land while avoiding violation of the safety constraints. The two distributed algorithms further show the ability to use longer prediction horizons than the centralized model predictive controller, especially in the cascade case, and also demonstrate improved robustness towards breaks in communication.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Nyckelord
- Autonomous vehicles
- Distributed control
- Model-based control
- Flight control
- Autonomous landing
- Cooperative control
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)
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