Sökning: onr:"swepub:oai:DiVA.org:ltu-32714" >
Model predictive qu...
Model predictive quadrotor indoor position control
-
- Alexis, Kostas (författare)
- Department of Electrical and Computer Engineering, University of Patras, Greece
-
- Papachristos, Christos (författare)
- Department of Electrical and Computer Engineering, University of Patras, Greece
-
- Nikolakopoulos, George (författare)
- Luleå tekniska universitet,Signaler och system
-
visa fler...
-
- Tzes, Anthony (författare)
- Department of Electrical and Computer Engineering, University of Patras, Greece
-
visa färre...
-
(creator_code:org_t)
- Piscataway, NJ : IEEE Communications Society, 2011
- 2011
- Engelska.
-
Ingår i: 19th Mediterranean Conference on Control & Automation (MED 2011). - Piscataway, NJ : IEEE Communications Society.
- Relaterad länk:
-
https://urn.kb.se/re...
-
visa fler...
-
https://doi.org/10.1...
-
visa färre...
Abstract
Ämnesord
Stäng
- This article addresses the control problem of quadrotors in environments where absolute-localization data (GPS, positioning from external cameras) is inadequate. Based on an attached IMU and an optical flow sensor the quadrotor’s translational velocity is estimated using an Extended Kalman Filter. Subject to the velocity measurements, the roll, pitch and yaw (RPY) angles, the angular rates and the translational accelerations a switching Model Predictive Controller is designed. The quadrotor dynamics is linearized at various operating points according to the angular rates and the RP angles. The switching is inferred according to the various linearized models of the quadrotor. The controller is applied on a quadrotor prototype in low-altitude position hold maneuvers at very constrained environments. The experimental results indicate the overall system’s efficiency in position/altitude set–point maneuvers.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Nyckelord
- Model Predictive Control
- Quadrotor
- Optic Flow
- Reglerteknik
- Control Engineering
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)