Linear vs Nonlinear MPC for Trajectory Tracking Applied to Rotary Wing Micro Aerial Vehicles

Precise trajectory tracking is a crucial property for Micro Air Vehicles (MAVs) to operate in cluttered environment or under disturbances. In this paper we present a detailed comparison between two state-of-the-art model-based control techniques for MAV trajectory tracking. A classical Linear Model...

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Bibliographic Details
Published inIFAC-PapersOnLine Vol. 50; no. 1; pp. 3463 - 3469
Main Authors Kamel, Mina, Burri, Michael, Siegwart, Roland
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.07.2017
Subjects
Path Following
Predictive Control
Real-time control
Trajectory Tracking
UAVs
Predictive Control
Real-time control
Path Following
Trajectory Tracking
UAVs
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Summary:Precise trajectory tracking is a crucial property for Micro Air Vehicles (MAVs) to operate in cluttered environment or under disturbances. In this paper we present a detailed comparison between two state-of-the-art model-based control techniques for MAV trajectory tracking. A classical Linear Model Predictive Controller (LMPC) is presented and compared against a more advanced Nonlinear Model Predictive Controller (NMPC) that considers the full system model. In a careful analysis we show the advantages and disadvantages of the two implementations in terms of speed and tracking performance. This is achieved by evaluating hovering performance, step response, and aggressive trajectory tracking under nominal conditions and under external wind disturbances.
ISSN:2405-8963
2405-8963
DOI:10.1016/j.ifacol.2017.08.849