Particle Filter-Model Predictive Control of Quadcopters

被引：0

作者：

Shimada, Kento ^{[1
]}

Nishida, Takeshi ^{[2
]}

机构：

[1] Kyushu Inst Technol, Grad Sch Engn, Kitakyushu, Fukuoka 804, Japan

[2] Kyushu Inst Technol, Fac Engn, Dept Mech & Control Engn, Kitakyushu, Fukuoka 804, Japan

来源：

2014 INTERNATIONAL CONFERENCE ON ADVANCED MECHATRONIC SYSTEMS (ICAMECHS) | 2014年

关键词：

model predictive control; particle filter; quadcopter;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

In recent years, extensive research has been conducted on the design and control of unmanned aerial vehicles having multiple propellers, called multicopters (especially quadcopters, which has four propellers). In this paper, we propose a method for applying particle filter-model predictive control that can take disturbance and measurement noise into consideration explicitly to the flight control of a quadcopter. Moreover, the validity of the proposed method is verified by simulation.

引用

页码：421 / 424

页数：4

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