Design and Implementation of a Constrained Model Predictive Control Approach for Unmanned Aerial Vehicles

Design and Implementation of a Constrained Model Predictive Control Approach for Unmanned Aerial Vehicles

This paper designs and implements a robust and Time-varying Constrained Model Predictive Controller (TCMPC) for the translational and attitude control of a real quadrotor. The proposed approach considers online optimization to find solutions through the hard and soft constraints. All the controller...

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Bibliographic Details
Main Authors: Morteza Aliyari, Wing-Kwong Wong, Yassine Bouteraa, Sepideh Najafinia, Afef Fekih, Saleh Mobayen
Format: Article
Language:English
Published: IEEE 2022-01-01
Series:IEEE Access
Subjects:
Quadcopter UAV
constrained MPC
external disturbance
control design
real-time implementation
Online Access:https://ieeexplore.ieee.org/document/9868004/

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