relation: http://eprints.imtlucca.it/432/
title: Hierarchical and hybrid model predictive control of quadcopter air vehicles
creator: Bemporad, Alberto
creator: Pascucci, Carlo A.
creator: Rocchi, Claudio
subject: HE Transportation and Communications
subject: QA75 Electronic computers. Computer science
description: 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.
publisher: IFAC
date: 2009
type: Book Section
type: PeerReviewed
identifier:   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)  
relation: http://www.ifac-papersonline.net/Detailed/41938.html
relation: 10.3182/20090916-3-ES-3003.00004