<> "The repository administrator has not yet configured an RDF license."^^ . <> . . . "Hierarchical and hybrid model predictive control of quadcopter air vehicles"^^ . "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."^^ . "2009" . . "IFAC"^^ . . "IFAC"^^ . . . . . . . . . . . . . . "Claudio"^^ . "Rocchi"^^ . "Claudio Rocchi"^^ . . "Carlo A."^^ . "Pascucci"^^ . "Carlo A. Pascucci"^^ . . "Alberto"^^ . "Bemporad"^^ . "Alberto Bemporad"^^ . . . . "3rd IFAC Conference on Analysis and Design of Hybrid Systems"^^ . . . . . "16th Sep - 18th Sep 2009"^^ . . . . . "HTML Summary of #432 \n\nHierarchical and hybrid model predictive control of quadcopter air vehicles\n\n" . "text/html" . . . "HE Transportation and Communications"@en . . . "QA75 Electronic computers. Computer science"@en . .