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Experimental Quadrotor Flight Performance using Computationally Efficient and Recursively Feasible Linear Model Predictive Control

Jaffery, MH, Shead, L, Forshaw, JL and Lappas, VJ (2013) Experimental Quadrotor Flight Performance using Computationally Efficient and Recursively Feasible Linear Model Predictive Control International Journal of Control, 86 (12). pp. 2189-2202.

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Abstract

A new linear model predictive control (MPC) algorithm in a state-space framework is presented based on the fusion of two past MPC control laws: steady-state optimal MPC (SSOMPC) and Laguerre optimal MPC (LOMPC). The new controller, SSLOMPC, is demonstrated to have improved feasibility, tracking performance and computation time than its predecessors. This is verified in both simulation and practical experimentation on a quadrotor unmanned air vehicle in an indoor motion-capture testbed. The performance of the control law is experimentally compared with proportional-integral-derivative (PID) and linear quadratic regulator (LQR) controllers in an unconstrained square manoeuvre. The use of soft control output and hard control input constraints is also examined in single and dual constrained manoeuvres. © 2013 Copyright Taylor and Francis Group, LLC.

Item Type: Article
Authors :
NameEmailORCID
Jaffery, MHUNSPECIFIEDUNSPECIFIED
Shead, LUNSPECIFIEDUNSPECIFIED
Forshaw, JLj.forshaw@surrey.ac.ukUNSPECIFIED
Lappas, VJv.lappas@surrey.ac.ukUNSPECIFIED
Date : 19 June 2013
Identification Number : https://doi.org/10.1080/00207179.2013.804256
Depositing User : Symplectic Elements
Date Deposited : 17 May 2017 13:06
Last Modified : 17 May 2017 15:08
URI: http://epubs.surrey.ac.uk/id/eprint/837947

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