Search: onr:"swepub:oai:DiVA.org:ltu-96924" >
Control of ARWs
Control of ARWs
-
- Patel, Akash (author)
- Luleå tekniska universitet,Signaler och system
-
- Banerjee, Avijit (author)
- Luleå tekniska universitet,Signaler och system
-
- Papadimitriou, Andreas (author)
- Luleå tekniska universitet,Signaler och system
-
show more...
-
- Lindqvist, Björn (author)
- Luleå tekniska universitet,Signaler och system
-
show less...
-
(creator_code:org_t)
- Elsevier, 2023
- 2023
- English.
-
In: Aerial Robotic Workers. - : Elsevier. - 9780128149096 ; , s. 49-65
- Related links:
-
https://urn.kb.se/re...
-
show more...
-
https://doi.org/10.1...
-
show less...
Abstract
Subject headings
Close
- This Chapter focuses on Aerial Robotic Workers (ARWs) various control methods to successfully track the desired states, waypoints, and trajectories. Additionally, this Chapter discusses the regulation from the motor commands level to the accurate tracking of waypoints in 3D space. Various model-based control frameworks are presented based on the modeled dynamics of the Modeling for ARWs (Chapter 3). Initially, a classical Proportional-Integral-Derivative (PID) control scheme is introduced, while in the sequel, a Linear Quadratic Regulator (LQR) and a Model Predictive Controller (MPC) are designed for the linearized dynamics of ARWs. In the sequel, a Nonlinear-MPC (NMPC) version of the simplified position control scheme is given. Finally, a switching MPC is presented for the attitude regulation of a reconfigurable ARW.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Keyword
- Proportional-integral-derivative controller
- Model predictive control
- Linear quadratic regulator
- Nonlinear control
- Robotics and Artificial Intelligence
- Robotik och artificiell intelligens
Publication and Content Type
- vet (subject category)
- kap (subject category)
Find in a library
To the university's database