An explicit MPC for quadrotor trajectory tracking

This paper intends to provide an explicit solution of model predictive control (MPC) for trajectory tracking of quadrotors. This kind of MPC can be designed in a conventional way where a nonlinear optimisation problem needs to be solved online. In this paper by using the differential flatness proper...

Full description

Saved in:
Bibliographic Details
Published in2015 34th Chinese Control Conference (CCC) pp. 4055 - 4060
Main Authors Liu, Cunjia, Lu, Hao, Chen, Wen-Hua
Format Conference Proceeding Journal Article
LanguageEnglish
Published Technical Committee on Control Theory, Chinese Association of Automation 01.07.2015
Subjects
Attitude control
Conferences
Curves (geometry)
flight control
Mathematical models
Model predictive control
multi-parametric programming
Optimization
Predictive control
Programming
Quadratic programming
Rotorcraft
Simulation
Tracking
Trajectories
Trajectory
trajectory tracking
Vehicle dynamics
Online AccessGet full text

Cover

More Information
Summary:This paper intends to provide an explicit solution of model predictive control (MPC) for trajectory tracking of quadrotors. This kind of MPC can be designed in a conventional way where a nonlinear optimisation problem needs to be solved online. In this paper by using the differential flatness property of the quadrotor, the reference trajectory, system outputs and inputs can be represented using Bezier curves. Thus, the formulated optimisation problem can be parameterised and converted into standard quadratic programming. The resulted quadratic programming problem can be further formulated into multiparametric quadratic programming which is then solved off-line as a piecewise affine function. The involved manipulations including the reduction of the number of optimisation variables and constraints are detailed in this paper. The performance of the proposed control scheme is demonstrated in a simulation study.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Conference-1
ObjectType-Feature-3
content type line 23
SourceType-Conference Papers & Proceedings-2
ISSN:1934-1768
DOI:10.1109/ChiCC.2015.7260264