ZČU
Publikace
Detail publikace
Citace
: Explicit Interpolating Control of Unmanned Aerial Vehicle . 24th International Conference on Methods and Models in Automation and Robotics (MMAR), Międzyzdroje, Poland, 2019.
Abstrakt
The paper deals with the constrained suboptimal control of a quadrotor Unmanned Aerial Vehicle (UAV). First the Optimal Control Problem (OCP) with constraints is formulated and afterwards two methodologies that provide an approximate solution to the OCP are introduced. The first one is called Model Predictive Control (MPC) which is standard methodology used in this field and it deals with the OCP on the shorter receding horizon. The second one is Interpolating Control (IC) that uses interpolation of two controllers with different properties, the optimal Linear-Quadratic (LQ) controller and vertex controller for the unconstrained and constrained cases, respectively. Both methodologies are implemented and compared in the simulation on a planar nonlinear model of the UAV.
Detail publikace
| Název: | Explicit Interpolating Control of Unmanned Aerial Vehicle |
|---|---|
| Autor: | Zdeněk Bouček ; Miroslav Flídr |
| Jazyk publikace: | anglicky |
| Datum vydání: | 14.10.2019 |
| Rok vydání: | 2019 |
| Typ publikace: | Stať ve sborníku |
| Název časopisu / knihy: | 24th International Conference on Methods and Models in Automation and Robotics (MMAR) |
| DOI: | 10.1109/MMAR.2019.8864719 |
| ISBN: | 978-1-7281-0933-6 |
| Místo vydání: | Międzyzdroje, Poland |
| Datum: | 26.8.2019 - 29.8.2019 |
Klíčová slova
Constrained Control, Model Predictive Control, Interpolating Control, Invariant Set, Unmanned Aerial Vehicle
BibTeX
@INPROCEEDINGS{ZdenekBoucek_2019_Explicit,
author = {Zden\v{e}k Bou\v{c}ek and Miroslav Fl\'{i}dr},
title = {Explicit Interpolating Control of Unmanned Aerial Vehicle},
year = {2019},
journal = {24th International Conference on Methods and Models in Automation and Robotics (MMAR)},
address = {Mi?dzyzdroje, Poland},
ISBN = {978-1-7281-0933-6},
doi = {10.1109/MMAR.2019.8864719},
url = {http://www.kky.zcu.cz/en/publications/ZdenekBoucek_2019_Explicit},
}