Nonlinear Predictive Control for the Tracking of Unmanned Aerial Vehicles

被引：0

作者：

Alvarez, Klever F. ^{[1
]}

Villarreal, Lenin R. ^{[1
]}

Sanchez, Jorge S. ^{[1
]}

Ortiz, Jessica S. ^{[1
]}

机构：

[1] Univ Fuerzas Armadas ESPE, Sangolqui, Ecuador

来源：

2020 15TH IBERIAN CONFERENCE ON INFORMATION SYSTEMS AND TECHNOLOGIES (CISTI'2020) | 2020年

关键词：

virtual environment; nonlinear predictive control; kinematic model; tracking; unmanned aerial vehicles; ROBOTS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In the following article a nonlinear predictive controller (MPC) is presented as a teaching and learning tool, to test the tracking of different flight paths in a safe way in unmanned aerial vehicles (UAV). This MPC is based on the kinematic model of the UAV and performs the function of minimizing control errors, restricting control actions, increasing system efficiency, maintaining stable flight operation and extending rotor life by restricting UAV input speeds. In addition, the comparison of the data obtained experimentally from Matlab with the data from the DJI Assitant is carried out by simulating the flight path within the virtual environment.

引用

页数：6

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