Ponencia
MPC with Nonlinear ℋ∞ Control for Path Tracking of a Quad-Rotor Helicopter
Autor/es | Vianna Raffo, Guilherme
Ortega Linares, Manuel Gil Rodríguez Rubio, Francisco |
Departamento | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Fecha de publicación | 2008 |
Fecha de depósito | 2021-02-19 |
Publicado en |
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ISBN/ISSN | 9783902661005 |
Resumen | 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 ... 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. |
Cita | 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. |
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