Benutzer: Gast  Login
Titel:

Model predictive path following controller for multirotor UAVs

Dokumenttyp:
Konferenzbeitrag
Art des Konferenzbeitrags:
Vortrag / Präsentation
Autor(en):
Niermeyer, Philipp
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
 BibTeX