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Title:

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

Document type:
Konferenzbeitrag
Contribution type:
Textbeitrag / Aufsatz
Author(s):
Niermeyer, P.; Herb, M.; Lohmann, B.
Pages contribution:
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...     »
Keywords:
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 Decimal Classification:
620 Ingenieurwissenschaften
Book / Congress title:
ICAT (International Conference on Information, Communication and Automation Technologies [26th, 2017]
Date of congress:
26.-28.10.2017
Year:
2017
Covered by:
Scopus
Print-ISBN:
978-153863337-3
Language:
en
Fulltext / DOI:
doi:10.1109/ICAT.2017.8171596
TUM Institution:
Lehrstuhl für Regelungstechnik
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