Model Predictive Control of an Unmanned Quadrotor Helicopter

Released on by Mahyar Abdolhosseini
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  • Model Predictive Control of an Unmanned Quadrotor Helicopter Book Detail

  • Author : Mahyar Abdolhosseini
  • Release Date : 2016
  • Publisher :
  • Genre :
  • Pages : 106
  • ISBN 13 :
  • File Size : 17,17 MB
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Model Predictive Control of an Unmanned Quadrotor Helicopter by Mahyar Abdolhosseini PDF Summary

Book Description: Model Predictive Control (MPC) has been well established and widely used in the process control industry since years. However, due to dependability of its success on availability of high computational power to handle burden of online repetitive calculations, and existence of a precise mathematical model of the controlled plant, it has found less application in other areas of systems and control, specifically speaking when it comes to fast dynamics control systems featuring a highly elaborate plant. Preceded by previous successful efforts made in the application of MPC to other areas of systems and control rather than process control, this thesis initiates employment of MPC in the unmanned aerial systems industry. To this end, the system of the quadrotor UAV testbed in the Networked Autonomous Vehicles Laboratory of Concordia University is chosen. A three dimensional autopilot control system within the framework of MPC is developed and tested through numerous flight experiments. The overall performance of the quadrotor helicopter is evaluated under autonomous fight for three flight scenarios of trajectory tracking, payload drop, robustness to voltage/current drop, and fault-tolerant control in the presence of faults induced by reduced actuator effectiveness. This has been achieved by the proper use of a model reduction technique as well as a fast optimization algorithm to address the issues with high computation, and incorporation of the integral action control in the MPC formulation to meet the offset-free tracking requirement. Both simulation and experimental results are presented to demonstrate success of the design.

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Model-Based Predictive Control

Model-Based Predictive Control

File Size : 72,72 MB
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Model Predictive Control (MPC) has become a widely used methodology across all engineering disciplines, yet there are few books which study this approach. Until