Nonlinear Model Predictive Control for Trajectory Tracking of a Hexarotor with Actively Tiltable Propellers
Research output: Contribution to conferences › Paper › Contributed
Contributors
Abstract
This paper presents the dynamic modeling and control of an over-actuated hexarotor with bounded rotor speeds. With actively tiltable propellers, the hexarotor can track six degrees of freedom (DOF) trajectories independently. Based on the state space model, a fast nonlinear model predictive controller (NMPC) using direct multiple shooting is proposed using two different non-linear programming solvers. The performance of the NMPC is analyzed using numerical simulations for step response and trajectory tracking under realistic operational conditions with noisy state estimation, parameter uncertainties, and disturbances. The controller is verified in the Gazebo simulator in a more realistic environment.
Details
Original language | English |
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Pages | 128-134 |
Number of pages | 7 |
Publication status | Published - 4 Feb 2021 |
Peer-reviewed | No |
Conference
Title | International Conference on Automation, Robotics and Applications |
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Abbreviated title | ICARA |
Conference number | 7. |
Duration | 4 - 6 February 2021 |
Degree of recognition | International event |
Location | virtual |
City |
External IDs
Scopus | 85103739808 |
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Keywords
ASJC Scopus subject areas
Keywords
- Nonlinear model predictive control (NMPC), control allocation, multirotor, trajectory tracking