Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Model Predictive Control for Path Tracking of a UAV Subject to Aerodynamic Disturbances
Submission Author:
Guênia Mara Vieira Ladeira , MG , Brazil
Co-Authors:
Gabriela Vieira Lima, Rafael Souza, Guênia Mara Vieira Ladeira
Presenter: Gabriela Vieira Lima
doi://10.26678/ABCM.COBEM2017.COB17-1370
Abstract
This article presents a strategy to solve the path tracking problem of an unmanned aerial vehicle quadrotor type. The quadrotor is an underactuated mechanical system, nonlinear, has a time-varying behavior and it is constantly affected by aerodynamic disturbances on outdoor flights. Thus, advanced control strategies are required to achieve good performance in autonomous flight. The dynamic model of the vehicle was obtained by the Lagrange-Euler formalism. The proposed control structure is a cascade scheme consisting of a model-based predictive controller to track the reference trajectory and other to stabilize the rotational movements of the aerial vehicle. In order to verify the effectiveness of the proposed control strategy, simulations were performed under the interference of aerodynamic disturbances (e.g. wind gusts), parametric uncertainties and physical constraints of the quadrotor.
Keywords
Quadrotor, Model Predictive Control, Path Tracking, Aerodynamic Disturbances
