Switching Model Predictive Control for Online Structural Reformations of a Foldable Quadrotor

被引：0

作者：

Papadimitriou, Andreas ^{[1
]}

Nikolakopoulos, George ^{[1
]}

机构：

[1] Lulea Univ Technol, Robot & AI Team, Dept Comp Sci Elect & Space Engn, SE-97187 Lulea, Sweden

来源：

IECON 2020: THE 46TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY | 2020年

基金：

欧盟地平线“2020”;

关键词：

Model based attitude control; Foldable quadrotor; Switching control; DESIGN;

D O I：

10.1109/iecon43393.2020.9254691

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The aim of this article is the formulation of a switching model predictive control framework for the case of a foldable quadrotor with the ability to retain the overall control quality during online structural reformations. The majority of the related scientific publications consider fixed morphology of the aerial vehicles. Recent advances in mechatronics have brought novel considerations for generalized aerial robotic designs with the ability to alter their morphology in order to adapt to their environment, thus enhancing their capabilities. Simulation results are provided to prove the efficacy of the selected control scheme.

引用

页码：682 / 687

页数：6

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