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Dokumenttyp:
Konferenzbeitrag 
Art des Konferenzbeitrags:
Vortrag / Präsentation 
Autor(en):
Niermeyer, Philipp 
Titel:
Model predictive path following controller for multirotor UAVs 
Abstract:
There is strong interest in Micro Aerial Vehicle (MAV) control architectures which are able to systematically respect physical limitations of the plant. Nonlinear Model Predictive Control (NMPC) inherits the required constraint handling abilities and is easy to reconfigure in case of plant degradation. This work presents a promising cascaded control architecture for multirotors for the task to follow a geometric path. In contrast to existing NMPC implementations for path following, three times c...    »
 
Kongress- / Buchtitel:
NMPC Seminar, IMTEK, Uni Freiburg 
Publikationsdatum:
10.05.2016 
Jahr:
2016 
Jahr / Monat:
2016-05 
Monat:
May 
Reviewed:
ja 
TUM Einrichtung:
Lehrstuhl für Regelungstechnik