Rodriguez Cortes, Hugo (CINVESTAV-IPN), Mendoza Soto, José Luis (UNAM, Instituto de Ingenieria, Mexico)

Generalized Predictive Control for Trajectory Tracking of a Quadcopter Vehicle

Scheduled for presentation during the "UAS Navigation - I" (WeA5), Wednesday, June 14, 2017, 10:20−10:40, San Marco Island

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 19, 2024

Abstract

This article proposes a control strategy based on the constrained generalized predictive control (GPC) in combination with a geometric attitude controller for trajectory tracking of the quadcopter vehicle. The generalized predictive control approach allows tracking time varying trajectories using optimal control actions to meet constraints on the desired trajectory. The geometric attitude controller tracks the reference attitude defined by the generalized predictive controller. The proposed controller is tested experimentally in a low-cost quadcopter instrumented with an attitude and heading reference system and an infrared camera based positioning system.