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A tracking error control approach for model predictive position control of a quadrotor with time varying reference
Dentler, Jan Eric; Kannan, Somasundar; Olivares Mendez, Miguel Angel et al.
2016In IEEE International Conference on Robotics and Biomimetics ROBIO, Qingdao, China, 2016
Peer reviewed
 

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A tracking error control approach for model predictive position control of a quadrotor with time varying reference
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Tracking error control - Experimental video
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Keywords :
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
Name of the research project :
FLYMAN
Available on ORBilu :
since 19 January 2017

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