Control of ARWs

• 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.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Nyckelord

Proportional-integral-derivative controller

Model predictive control

Linear quadratic regulator

Nonlinear control

Robotics and Artificial Intelligence

Robotik och artificiell intelligens

Publikations- och innehållstyp

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