%R 10.3182/20090916-3-ES-3003.00004
%B Analysis and Design of Hybrid Systems
%C 16th Sep - 18th Sep 2009
%L eprints432
%D 2009
%X 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.
%A Alberto Bemporad
%A Carlo A. Pascucci
%A Claudio Rocchi
%K model predictive control; hierarchical control; mixed logical dynamical systems; unmanned air vehicles; obstacle avoidance
%I IFAC
%P 14-19
%T Hierarchical and hybrid model predictive control of quadcopter air vehicles