LPV MPC Control of an Autonomous Aerial Vehicle
Mark Misin, Vicenç Puig
Abstract
This work proposes the use of the LPV MPC approach for the position-heading control problem of a small quadrotor. The use of a LPV representation of the attitude subsystem allows to consider it as independent from the position one allowing the use of a cascade control structure. For the inner attitude control loop, the proposed LPV MPC controller is solved efficiently using quadratic programming. The proposed approach is applied to an AscTec Hummingbird UAV in simulation.
Topics & Concepts
Control theory (sociology)Model predictive controlHeading (navigation)Quadratic programmingPosition (finance)CascadeAttitude controlComputer scienceController (irrigation)Control (management)Control engineeringRepresentation (politics)Loop (graph theory)EngineeringMathematical optimizationMathematicsArtificial intelligenceFinanceLawEconomicsAerospace engineeringPoliticsChemical engineeringPolitical scienceAgronomyBiologyCombinatoricsAdaptive Control of Nonlinear SystemsDistributed Control Multi-Agent SystemsGuidance and Control Systems