Nonlinear Model Predictive Control with Constraint Satisfactions for a Quadcopter

作     者：Ye Wang Andres Ramirez-Jaime Feng Xu Vicenç Puig 

作者机构：Advanced Control Systems (SAC) Research Group at Institut de Robòtica i Informàtica Industrial CSIC-UPC Universitat Politècnica de Catalunya-BarcelonaTech (UPC) C/. Llorens i Artigas 4-6 08028 Barcelona Spain Departamento de Ingeniería Eléctrica y Electrónica Universidad de los Andes Carrera 1 No. 18A-10 Colombia Center of Intelligent Control and Telescience Graduate School at Shenzhen Tsinghua University 518055 Shenzhen P.R. China 

出 版 物：《Journal of Physics: Conference Series》 

年 卷 期：2017年第783卷第1期

学科分类：07[理学] 0702[理学-物理学] 

摘      要：This paper presents a nonlinear model predictive control (NMPC) strategy combined with constraint satisfactions for a quadcopter. The full dynamics of the quadcopter describing the attitude and position are nonlinear, which are quite sensitive to changes of inputs and disturbances. By means of constraint satisfactions, partial nonlinearities and modeling errors of the control-oriented model of full dynamics can be transformed into the inequality constraints. Subsequently, the quadcopter can be controlled by an NMPC controller with the updated constraints generated by constraint satisfactions. Finally, the simulation results applied to a quadcopter simulator are provided to show the effectiveness of the proposed strategy.