eprintid: 432
rev_number: 14
eprint_status: archive
userid: 7
dir: disk0/00/00/04/32
datestamp: 2011-07-27 08:34:07
lastmod: 2013-02-20 10:16:40
status_changed: 2013-02-20 10:16:40
type: book_section
metadata_visibility: show
contact_email: alberto.bemporad@imtlucca.it
item_issues_count: 0
creators_name: Bemporad, Alberto
creators_name: Pascucci, Carlo A.
creators_name: Rocchi, Claudio
creators_id: alberto.bemporad@imtlucca.it
creators_id: 
creators_id: 
title: Hierarchical and hybrid model predictive control of quadcopter air vehicles
ispublished: pub
subjects: HE
subjects: QA75
divisions: CSA
full_text_status: none
keywords: model predictive control; hierarchical control; mixed logical dynamical systems; unmanned air vehicles; obstacle avoidance
abstract: 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.
date: 2009
date_type: published
publisher: IFAC
place_of_pub: 16th Sep - 18th Sep 2009
pagerange: 14-19
event_title: 3rd IFAC Conference on Analysis and Design of Hybrid  Systems
event_location: 16th Sep - 18th Sep 2009
event_dates: Zaragoza, Spain
id_number: 10.3182/20090916-3-ES-3003.00004
refereed: TRUE
isbn: 978-3-902661-59-3
book_title: Analysis and Design of Hybrid Systems
official_url: http://www.ifac-papersonline.net/Detailed/41938.html
citation:   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)