A Model Predictive Guidance Strategy for a Multirotor Aerial Vehicle

Igor Afonso Acampora Prado, Davi Antonio dos Santos

Abstract


The present study faces the problem of safely controlling the position trajectory of a multirotor aerial vehicle subjected to a conic constraint on the total thrust vector and a linear convex constraint on the position vector. The problem is solved using a linear state-space model predictive control strategy, whose optimization is made handy by replacing the original conic constraint set on the thrust vector by an inscribed pyramidal space, which renders a linear set of inequalities. The proposed method is evaluated on the basis of Monte Carlo simulations taking into account a random disturbance force. The simulation results show the effectiveness of the method in tracking the commanded trajectory while respecting the constraints. They also predict the effect of both the speed command and the maximum allowed inclination angle on the system performance.

Keywords


Position Control, Unmanned Aerial Vehicle, Model Predictive Control, Multirotor Helicopters.

Full Text:

PDF


DOI: http://dx.doi.org/10.5028/jatm.v9i1.613

Refbacks

  • There are currently no refbacks.
';



Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 International License.