TY  - CHAP
ID  - eprints432
EP  - 19
T2  - Analysis and Design of Hybrid Systems
PB  - IFAC
SN  - 978-3-902661-59-3
A1  - Bemporad, Alberto
A1  - Pascucci, Carlo A.
A1  - Rocchi, Claudio
N2  - 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.
SP  - 14
Y1  - 2009///
KW  - model predictive control; hierarchical control; mixed logical dynamical systems; unmanned air vehicles; obstacle avoidance
AV  - none
TI  - Hierarchical and hybrid model predictive control of quadcopter air vehicles
CY  - 16th Sep - 18th Sep 2009
UR  - http://www.ifac-papersonline.net/Detailed/41938.html
ER  -