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Document type:
Konferenzbeitrag 
Author(s):
Niermeyer, Philipp; Akkinapalli, Venkata Sravan; Pak, Mikhail; Holzapfel, Florian; Lohmann, Boris 
Title:
Geometric Path Following Control for Multirotor Vehicles using Nonlinear Model Predictive Control and 3D Spline Paths 
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...    »
 
Book / Congress title:
2016 International Conference on Unmanned Aircraft Systems (ICUAS) 
Year:
2016 
Pages:
126--134 
Covered by:
Scopus; Web of Science 
Reviewed:
ja