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A Quantum-behaved Pigeon-Inspired Optimization approach to explicit nonlinear model predictive controller for quadrotor

引用

International Journal of Intelligent Computing and Cybernetics 2018年第1期11卷 47-63页

作者： Ning Xian Zhilong Chen Science and Technology on Aircraft Control Laboratory Beihang University(BUAA)BeijingChina

Purpose–The purpose of this paper is to simplify the explicit nonlinear model predictive controller(ENMPC)by linearizing the trajectory with Quantum-behaved Pigeon-Inspired Optimization(QPIO).Design/methodology/approach–The paper deduces the nonlinear model of the quadrotor and uses the ENMPC to track the *** the ENMPC has high demand for the state equation,the trajectory needed to be differentiated many *** the trajectory is complicate or discontinuous,QPIO is proposed to linearize the *** the linearized trajectory will be used in the ***–Applying the QPIO algorithm allows the unequal distance sample points to be acquired to linearize the *** with the equidistant linear interpolation,the linear interpolation error will be *** implications–Small-sized quadrotors were adopted in this research to simplify the *** model is supposed to be accurate and differentiable to meet the requirements of ***/value–Traditionally,the quadrotor model was usually linearized in the *** this paper,the quadrotormodel waskept nonlinear and the trajectorywill be *** sample points were utilized to linearize the *** this way,the authors can get a smaller interpolation *** method can also be applied to discrete systems to construct the interpolation for trajectory tracking.

关键词： explicit nonlinear model predictive controller Linearized trajectory Quantum-behaved Pigeon-Inspired Optimization

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