.png){kind=icon}
返回
Efficient Nonlinear Model Predictive Control for Quadrotor Trajectory Tracking: Algorithms and Experiment
.png){kind=icon}
PRE
AI
DOI：10.1109/TCYB.2020.3043361.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
This article studies an efficient nonlinear model-predictive control (NMPC) scheme for trajectory tracking control of a quadrotor unmanned aerial vehicle (UAV). By augmenting the desired trajectory to a reference dynamical system, we can make the tracking task fit into the standard NMPC framework. In order to alleviate the heavy computational burden caused by solving the corresponding NMPC optimization problem online, we develop an improved continuation/generalized minimal residual (iC/GMRES) algorithm. Compared with the standard C/GMRES method, the inequality constraint is relaxed by imposing the penalty term on the cost function. To guarantee the closed-loop system stability, we introduce a contraction constraint. Based on the proposed numerical algorithm and the stability constraint, we develop a novel efficient-NMPC algorithm to achieve acceptable control performance with reduced computational complexity. The numerical convergence of iC/GMRES solutions and the closed-loop stability of efficient-NMPC are theoretically analyzed in the presence of the input constraint. Finally, the numerical simulations, software-in-the-loop (SIL) simulations, and the real-time experiment are given to demonstrate the effectiveness of the proposed iC/GMRES algorithm and efficient-NMPC scheme.
Keyword:
Trajectory tracking
Real-time systems
Unmanned aerial vehicles
Convergence
Time factors
Numerical stability
Predictive control
C/GMRES
input constraints
nonlinear model predictive control (NMPC)
real-time implementation
trajectory tracking
AI总结
对已上传原文的论文进行重点信息的提取，主要内容包括：简要概述、研究摘要、背景介绍、关键亮点、图文解析、展望与总结。
期刊
IF:
10.5
论文数:
1.1W
被引数:
5.0W
机构
引用论文
.png){kind=icon}
分享收藏
分享收藏Trajectory Tracking Control of an Autonomous Underwater Vehicle Using Lyapunov-Based Model Predictive Control基于Lyapunov模型预测控制的自主水下航行器轨迹跟踪控制
PREAI
分享收藏Variability of Cognitive Performance during Hemodialysis: Standardization of Cognitive Assessment
PREAI
分享收藏Performance Recovery Tracking-Controller for Quadcopters via Invariant Dynamic Surface Approach
PREAI
分享收藏
查看更多内容