Model Predictive Control; quadrotor UAV robot; Time varying reference
Abstract :
[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.
Disciplines :
Electrical & electronics engineering
Author, co-author :
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 ; University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
External co-authors :
no
Language :
English
Title :
A tracking error control approach for model predictive position control of a quadrotor with time varying reference
Publication date :
06 December 2016
Event name :
IEEE International Conference on Robotics and Biomimetics ROBIO
Event organizer :
IEEE Robotics and Automation Society
Event place :
Qingdao, China
Event date :
Dec. 3 – Dec. 7, 2016
Audience :
International
Main work title :
IEEE International Conference on Robotics and Biomimetics ROBIO, Qingdao, China, 2016
Peer reviewed :
Peer reviewed
Focus Area :
Security, Reliability and Trust
FnR Project :
FNR9312118 - Controller Design For Cooperative Flying Manipulation Using Small Quadrotor Uavs, 2014 (15/11/2014-14/11/2018) - Jan Eric Dentler