Reference : A tracking error control approach for model predictive position control of a quadroto...

	Document type :	Scientific congresses, symposiums and conference proceedings : Paper published in a book
	Discipline(s) :	Engineering, computing & technology : Electrical & electronics engineering
	Focus Areas :	Security, Reliability and Trust
	To cite this reference:	http://hdl.handle.net/10993/29417

Title :	A tracking error control approach for model predictive position control of a quadrotor with time varying reference
Language :	English
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)]
Publication date :	6-Dec-2016
Main document title :	IEEE International Conference on Robotics and Biomimetics ROBIO, Qingdao, China, 2016
Peer reviewed :	Yes
On invitation :	No
Audience :	International
Event name :	IEEE International Conference on Robotics and Biomimetics ROBIO
Event date :	Dec. 3 – Dec. 7, 2016
Event organizer :	IEEE Robotics and Automation Society
Event place (city) :	Qingdao
Event country :	China
Keywords :	[en] 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.
Name of the research project :	FLYMAN
Target :	Researchers ; Professionals ; Students ; General public ; Others
Permalink :	http://hdl.handle.net/10993/29417
FnR project :	FnR ; FNR9312118 > Jan Eric Dentler > FLYMAN > Controller design for cooperative flying manipulation using small quadrotor UAVs > 15/11/2014 > 14/11/2017 > 2014

	File(s) associated to this reference
	Fulltext file(s): File Commentary Version Size Access Open access 2016Robio_jan_dentler_Rev4.pdf A tracking error control approach for model predictive position control of a quadrotor with time varying reference Publisher postprint 1.06 MB View/Open Additional material(s): File Commentary Size Access Open access targetpositioncontrol.mp4 Tracking error control - Experimental video 4.72 MB View/Open

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