A Model Predictive Guidance Strategy for a Multirotor Aerial Vehicle
The present study faces the problem of safely controlling the position trajectory of a multirotor aerial vehicle subjected to a conic constraint on the total thrust vector and a linear convex constraint on the position vector. The problem is solved using a linear state-space model predictive control...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Instituto de Aeronáutica e Espaço (IAE)
2017-02-01
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| Series: | Journal of Aerospace Technology and Management |
| Subjects: | |
| Online Access: | https://www.jatm.com.br/jatm/article/view/613 |
| _version_ | 1829102618945781760 |
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| author | Igor Afonso Acampora Prado Davi Antonio dos Santos |
| author_facet | Igor Afonso Acampora Prado Davi Antonio dos Santos |
| author_sort | Igor Afonso Acampora Prado |
| collection | DOAJ |
| description | The present study faces the problem of safely controlling the position trajectory of a multirotor aerial vehicle subjected to a conic constraint on the total thrust vector and a linear convex constraint on the position vector. The problem is solved using a linear state-space model predictive control strategy, whose optimization is made handy by replacing the original conic constraint set on the thrust vector by an inscribed pyramidal space, which renders a linear set of inequalities. The proposed method is evaluated on the basis of Monte Carlo simulations taking into account a random disturbance force. The simulation results show the effectiveness of the method in tracking the commanded trajectory while respecting the constraints. They also predict the effect of both the speed command and the maximum allowed inclination angle on the system performance. |
| first_indexed | 2024-12-10T23:05:04Z |
| format | Article |
| id | doaj.art-9d1dd5e2f6f244068f0e9cb7178ab8e9 |
| institution | Directory Open Access Journal |
| issn | 2175-9146 |
| language | English |
| last_indexed | 2024-12-10T23:05:04Z |
| publishDate | 2017-02-01 |
| publisher | Instituto de Aeronáutica e Espaço (IAE) |
| record_format | Article |
| series | Journal of Aerospace Technology and Management |
| spelling | doaj.art-9d1dd5e2f6f244068f0e9cb7178ab8e92022-12-22T01:30:04ZengInstituto de Aeronáutica e Espaço (IAE)Journal of Aerospace Technology and Management2175-91462017-02-0191A Model Predictive Guidance Strategy for a Multirotor Aerial VehicleIgor Afonso Acampora Prado0Davi Antonio dos Santos1Instituto Tecnológico de AeronáuticaInstituto Tecnológico de AeronáuticaThe present study faces the problem of safely controlling the position trajectory of a multirotor aerial vehicle subjected to a conic constraint on the total thrust vector and a linear convex constraint on the position vector. The problem is solved using a linear state-space model predictive control strategy, whose optimization is made handy by replacing the original conic constraint set on the thrust vector by an inscribed pyramidal space, which renders a linear set of inequalities. The proposed method is evaluated on the basis of Monte Carlo simulations taking into account a random disturbance force. The simulation results show the effectiveness of the method in tracking the commanded trajectory while respecting the constraints. They also predict the effect of both the speed command and the maximum allowed inclination angle on the system performance.https://www.jatm.com.br/jatm/article/view/613Position ControlUnmanned Aerial VehicleModel Predictive ControlMultirotor Helicopters. |
| spellingShingle | Igor Afonso Acampora Prado Davi Antonio dos Santos A Model Predictive Guidance Strategy for a Multirotor Aerial Vehicle Journal of Aerospace Technology and Management Position Control Unmanned Aerial Vehicle Model Predictive Control Multirotor Helicopters. |
| title | A Model Predictive Guidance Strategy for a Multirotor Aerial Vehicle |
| title_full | A Model Predictive Guidance Strategy for a Multirotor Aerial Vehicle |
| title_fullStr | A Model Predictive Guidance Strategy for a Multirotor Aerial Vehicle |
| title_full_unstemmed | A Model Predictive Guidance Strategy for a Multirotor Aerial Vehicle |
| title_short | A Model Predictive Guidance Strategy for a Multirotor Aerial Vehicle |
| title_sort | model predictive guidance strategy for a multirotor aerial vehicle |
| topic | Position Control Unmanned Aerial Vehicle Model Predictive Control Multirotor Helicopters. |
| url | https://www.jatm.com.br/jatm/article/view/613 |
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