Design and Real-Time Implementation of a Cascaded Model Predictive Control Architecture for Unmanned Aerial Vehicles

Design and Real-Time Implementation of a Cascaded Model Predictive Control Architecture for Unmanned Aerial Vehicles

Modeling and control are challenging in unmanned aerial vehicles, especially in quadrotors where there exists high coupling between the position and the orientation dynamics. In simulations, conventional control strategies such as the use of a proportional–integral–derivative (PID) controller under...

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Bibliographic Details
Main Authors: Patricio Borbolla-Burillo, David Sotelo, Michael Frye, Luis E. Garza-Castañón, Luis Juárez-Moreno, Carlos Sotelo
Format: Article
Language:English
Published: MDPI AG 2024-02-01
Series:Mathematics
Subjects:
quadrotor UAV
cascade hierarchical MPC
control structure design
real-time implementation
external disturbance
Online Access:https://www.mdpi.com/2227-7390/12/5/739

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