Reference : A tracking error control approach for model predictive position control of a quadroto...
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Electrical & electronics engineering
Security, Reliability and Trust
http://hdl.handle.net/10993/29417
A tracking error control approach for model predictive position control of a quadrotor with time varying reference
English
Dentler, Jan Eric [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Kannan, Somasundar [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Olivares Mendez, Miguel Angel [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Voos, Holger mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit > ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)]
6-Dec-2016
IEEE International Conference on Robotics and Biomimetics ROBIO, Qingdao, China, 2016
Yes
No
International
IEEE International Conference on Robotics and Biomimetics ROBIO
Dec. 3 – Dec. 7, 2016
IEEE Robotics and Automation Society
Qingdao
China
[en] Model Predictive Control ; quadrotor UAV robot ; Time varying reference
[en] In mobile robotic applications, a common problem
is the following of a given trajectory with a constant velocity.
Using standard model predictive control (MPC) for tracking
of time varying trajectories leads to a constant tracking error.
This problem is modelled in this paper as quadrotor position
tracking problem. The presented solution is a computationally
light-weight target position control (T PC), that controls the
tracking error of MPCs for constantly moving targets. The
proposed technique is assessed mathematically in the Laplace
domain, in simulation, as well as experimentally on a real
quadrotor system.
Researchers ; Professionals ; Students ; General public ; Others
http://hdl.handle.net/10993/29417
FnR ; FNR9312118 > Jan Eric Dentler > FLYMAN > Controller design for cooperative flying manipulation using small quadrotor UAVs > 15/11/2014 > 14/11/2017 > 2014

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2016Robio_jan_dentler_Rev4.pdfA tracking error control approach for model predictive position control of a quadrotor with time varying referencePublisher postprint1.06 MBView/Open

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targetpositioncontrol.mp4Tracking error control - Experimental video4.72 MBView/Open

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