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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Dettagli Bibliografici
Autori principali:	Patricio Borbolla-Burillo, David Sotelo, Michael Frye, Luis E. Garza-Castañón, Luis Juárez-Moreno, Carlos Sotelo
Natura:	Articolo
Lingua:	English
Pubblicazione:	MDPI AG 2024-02-01
Serie:	Mathematics
Soggetti:	quadrotor UAV cascade hierarchical MPC control structure design real-time implementation external disturbance
Accesso online:	https://www.mdpi.com/2227-7390/12/5/739

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