| Title: | Explicit Interpolating Control of Unmanned Aerial Vehicle |
| Authors: | Bouček, Zdeněk Flídr, Miroslav |
| Citation: | BOUČEK, Z., FLÍDR, M. Explicit Interpolating Control of Unmanned Aerial Vehicle. In: Proceedings of 24th International Conference on Methods and Models in Automation & Robotics. Międzyzdroje: IEEE, 2019. s. 384-389. ISBN 978-1-72810-933-6. |
| Issue Date: | 2019 |
| Publisher: | IEEE |
| Document type: | konferenční příspěvek conferenceObject |
| URI: | 2-s2.0-85074227097 http://hdl.handle.net/11025/36655 |
| ISBN: | 978-1-72810-933-6 |
| Keywords in different language: | Constrained Control, Model Predictive Control, Interpolating Control, Invariant Set, Unmanned Aerial Vehicle |
| Abstract: | The paper deals with the constrained suboptimal control of a quadrotor Unmanned Aerial Vehicle (UAV). First the Optimal Control Problem (OCP) with constraints is formulated and afterwards two methodologies that provide an approximate solution to the OCP are introduced. The first one is called Model Predictive Control (MPC) which is standard methodology used in this field and it deals with the OCP on the shorter receding horizon. The second one is Interpolating Control (IC) that uses interpolation of two controllers with different properties, the optimal Linear-Quadratic (LQ) controller and vertex controller for the unconstrained and constrained cases, respectively. Both methodologies are implemented and compared in the simulation on a planar nonlinear model of the UAV. |
| Rights: | Plný text je přístupný v rámci univerzity přihlášeným uživatelům. © IEEE |
| Appears in Collections: | Konferenční příspěvky / Conference Papers (KKY) OBD |
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