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Hierarchical and hybrid model predictive control of quadcopter air vehicles

Bemporad, Alberto and Pascucci, Carlo A. and Rocchi, Claudio Hierarchical and hybrid model predictive control of quadcopter air vehicles. In: Analysis and Design of Hybrid Systems. IFAC, 16th Sep - 18th Sep 2009, pp. 14-19. ISBN 978-3-902661-59-3 (2009)

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This paper proposes a hierachical hybrid MPC approach to design feedback control functions for stabilization and autonomous navigation of unmanned air vehicles. After formulating the nonlinear dynamical equations of a "quadcopter" air vehicle, a linear MPC controller is designed to stabilize the vehicle around commanded desired set-points. These are generated at a slower sampling rate by a hybrid MPC controller at the upper control layer, based on a hybrid dynamical model of the UAV and of its surrounding environment, with the overall goal of controlling the vehicle to a target set-point while avoiding obstacles. The performance of the complete hierarchical control scheme is assessed through simulations and visualization in a virtual 3D environment, showing the ability of linear MPC to handle the strong couplings among the dynamical variables of the quadcopter under various torque and angle/position constraints, and the flexibility of hybrid MPC in planning the desired trajectory on-line.

Item Type: Book Section
Identification Number: 10.3182/20090916-3-ES-3003.00004
Uncontrolled Keywords: model predictive control; hierarchical control; mixed logical dynamical systems; unmanned air vehicles; obstacle avoidance
Subjects: H Social Sciences > HE Transportation and Communications
Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Research Area: Computer Science and Applications
Depositing User: Professor Alberto Bemporad
Date Deposited: 27 Jul 2011 08:34
Last Modified: 20 Feb 2013 10:16
URI: http://eprints.imtlucca.it/id/eprint/432

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