Benutzer: Gast  Login
Titel:

Onboard multi-rate tube model predictive position control for a hexacopter: From design to outdoor flight experiments

Dokumenttyp:
Konferenzbeitrag
Art des Konferenzbeitrags:
Textbeitrag / Aufsatz
Autor(en):
Niermeyer, P.; Herb, M.; Lohmann, B.
Seitenangaben Beitrag:
pp. 1-7
Abstract:
Model Predictive Control (MPC) is a candidate solution to aggressively control a constrained plant. In Tube Model Predictive Control (TMPC), optimality is traded for robustness which is a key aspect in flight controls where the plant is subject to many disturbances and uncertainties especially related to aerodynamics and wind. Yet MPC comes with large computational effort and thus reduced execution rates of the control law which aggravates disturbance rejection. This issue can be addressed by ex...     »
Stichworte:
flight experiments; hardware-in-the-loop simulatio; nhexacopter position control; multi-rate control; optimal control; real-time optimization; robust control; tube model predictive control
Dewey-Dezimalklassifikation:
620 Ingenieurwissenschaften
Kongress- / Buchtitel:
ICAT (International Conference on Information, Communication and Automation Technologies [26th, 2017]
Datum der Konferenz:
26.-28.10.2017
Jahr:
2017
Nachgewiesen in:
Scopus
Print-ISBN:
978-153863337-3
Sprache:
en
Volltext / DOI:
doi:10.1109/ICAT.2017.8171596
TUM Einrichtung:
Lehrstuhl für Regelungstechnik
 BibTeX