Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
PARAMETRIZED MODEL PREDICTIVE CONTROL TO QUADROTOR
Submission Author:
Victor Hugo Lima , DF
Co-Authors:
Victor Hugo Lima, André Murilo, Renato Lopes
Presenter: Victor Hugo Lima
doi://10.26678/ABCM.COBEM2019.COB2019-1515
Abstract
In this paper, a model predictive controller (MPC) is proposed for a quadrotor, an unmanned aerial vehicle. A simplified prediction model is obtained by linearizing the plant’s dynamics around an equilibrium point. The MPC’s ability in handling operational constraints on input and output variables is explored to ensure the system stays around the equilibrium point. A control parametrization is also proposed that substantially reducing the computational cost of the quadratic programming through of an exponential linear combination applied command vector u. Finally, the simulation result shows that the technique used is faster, when compared to the controller without parametrization, keeping the system stable and within the limits imposed by the constraints.
Keywords
UAV, Quadrotor, MPC, Parametrized Control
