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 ![]() | |
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. | |
FLYMAN | |
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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