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Citation

Zdeněk Bouček and Miroslav Flídr : Explicit Interpolating Control of Unmanned Aerial Vehicle . 24th International Conference on Methods and Models in Automation and Robotics (MMAR), Międzyzdroje, Poland, 2019.

Abstract

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 of publication

Title: Explicit Interpolating Control of Unmanned Aerial Vehicle
Author: Zdeněk Bouček ; Miroslav Flídr
Language: English
Date of publication: 14 Oct 2019
Year: 2019
Type of publication: Papers in proceedings of reviewed conferences
Title of journal or book: 24th International Conference on Methods and Models in Automation and Robotics (MMAR)
DOI: 10.1109/MMAR.2019.8864719
ISBN: 978-1-7281-0933-6
Address: Międzyzdroje, Poland
Date: 26 Aug 2019 - 29 Aug 2019
/ 2020-04-22 10:17:22 /

Keywords

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},
}