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MPC with Nonlinear ℋ∞ Control for Path Tracking of a Quad-Rotor Helicopter
dc.creator | Vianna Raffo, Guilherme | es |
dc.creator | Ortega Linares, Manuel Gil | es |
dc.creator | Rodríguez Rubio, Francisco | es |
dc.date.accessioned | 2021-02-19T09:15:29Z | |
dc.date.available | 2021-02-19T09:15:29Z | |
dc.date.issued | 2008 | |
dc.identifier.citation | Vianna Raffo, G., Gil Ortega Linares, M. y Rodríguez Rubio, F. (2008). MPC with Nonlinear ℋ∞ Control for Path Tracking of a Quad-Rotor Helicopter. En IFAC World Congress (8564-8569), Seoul (Korea): Elsevier. | |
dc.identifier.isbn | 9783902661005 | es |
dc.identifier.uri | https://hdl.handle.net/11441/105151 | |
dc.description | 17th IFAC World Congress (IFAC'08) Seoul, Korea, July 6-11 | es |
dc.description.abstract | This paper presents a predictive and nonlinear robust control strategy to solve the path tracking problem for a quadrotor helicopter. The dynamic motion equations are obtained by the Lagrange-Euler formalism. The control structure is performed through a model-based predictive controller (MPC) to track the reference trajectory and a nonlinear ℋ∞ controller to stabilize the rotational movements. Simulations results in presence of aerodynamic disturbances and parametric uncertainty are presented to corroborate the effectiveness and the robustness of the proposed strategy. | es |
dc.format | application/pdf | es |
dc.format.extent | 6 p. | es |
dc.language.iso | eng | es |
dc.publisher | Elsevier | es |
dc.relation.ispartof | IFAC World Congress (2008), pp. 8564-8569. | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Model predictive control | es |
dc.subject | Quad-Rotor Helicopter | es |
dc.subject | Robustness | es |
dc.title | MPC with Nonlinear ℋ∞ Control for Path Tracking of a Quad-Rotor Helicopter | es |
dc.type | info:eu-repo/semantics/conferenceObject | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/publishedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática | es |
dc.relation.publisherversion | https://www.sciencedirect.com/science/article/pii/S1474667016403277 | es |
dc.identifier.doi | 10.3182/20080706-5-KR-1001.01448 | es |
dc.publication.initialPage | 8564 | es |
dc.publication.endPage | 8569 | es |
dc.eventtitle | IFAC World Congress | es |
dc.eventinstitution | Seoul (Korea) | es |
dc.identifier.sisius | 5477728 | es |
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1-s2.0-S1474667016403277-main.pdf | 616.6Kb | ![]() | Ver/ | |