Trajectory Tracking for UAVs: An Interpolating Control Approach

被引:0
|
作者
Boucek, Zdenek [1 ]
Flidr, Miroslav
Straka, Ondfej
机构
[1] Univ West Bohemia, Fac Appl Sci, New Technol Informat Soc Res Ctr, Plzen, Czech Republic
来源
2024 28TH INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS, MMAR 2024 | 2024年
关键词
UAV; Drone; Trajectory Tracking; Model Predictive Control; Interpolating Control;
D O I
10.1109/MMAR62187.2024.10680744
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Building on our previous work, this paper investigates the effectiveness of interpolating control (IC) for real-time trajectory tracking. Unlike prior studies that focused on trajectory tracking itself or UAV stabilization control in simulation, we evaluate the performance of a modified extended IC (eIC) controller compared to Model Predictive Control (MPC) through both simulated and laboratory experiments with a UAV. The evaluation focuses on the computational efficiency and control quality of real-time UAV trajectory tracking compared to previous IC applications. The results demonstrate that the eIC controller achieves competitive performance compared to MPC while significantly reducing computational complexity, making it a promising alternative for resource-constrained platforms.
引用
收藏
页码:387 / 392
页数:6
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