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Document type:
Konferenzbeitrag 
Contribution type:
Vortrag / Präsentation 
Author(s):
Niermeyer, Philipp 
Title:
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...    »
 
Book / Congress title:
NMPC Seminar, IMTEK, Uni Freiburg 
Date of publication:
10.05.2016 
Year:
2016 
Year / month:
2016-05 
Month:
May 
Reviewed:
ja 
TUM Institution:
Lehrstuhl für Regelungstechnik