Gaussian Process Model Predictive Control of an Unmanned Quadrotor

被引:80
作者
Cao, Gang [1 ]
Lai, Edmund M. -K. [2 ]
Alam, Fakhrul [1 ]
机构
[1] Massey Univ, Sch Engn & Adv Technol, Auckland, New Zealand
[2] Auckland Univ Technol, Dept Informat Technol & Software Engn, Auckland, New Zealand
关键词
Quadrotor trajectory tracking; Model predictive control; Gaussian process; DERIVATIVE-FREE METHODS; TRACKING CONTROL;
D O I
10.1007/s10846-017-0549-y
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
The Model Predictive Control (MPC) trajectory tracking problem of an unmanned quadrotor with input and output constraints is addressed. In this article, the dynamic models of the quadrotor are obtained purely from operational data in the form of probabilistic Gaussian Process (GP) models. This is different from conventional models obtained through Newtonian analysis. A hierarchical control scheme is used to handle the trajectory tracking problem with the translational subsystem in the outer loop and the rotational subsystem in the inner loop. Constrained GP based MPC are formulated separately for both subsystems. The resulting MPC problems are typically nonlinear and non-convex. We derived a GP based local dynamical model that allows these optimization problems to be relaxed to convex ones which can be efficiently solved with a simple active-set algorithm. The performance of the proposed approach is compared with an existing unconstrained Nonlinear Model Predictive Control (NMPC) algorithm and an existing constrained nonlinear GP based MPC algorithm. In the first comparison, simulation results show that the two approaches exhibit similar trajectory tracking performance. However, our approach has the advantage of incorporating constraints on the control inputs. In the second comparison, simulation results demonstrate that our approach only requires 20% of the computational time for the existing nonlinear GP based MPC.
引用
收藏
页码:147 / 162
页数:16
相关论文
共 45 条
  • [1] An Efficient Model Predictive Control Scheme for an Unmanned Quadrotor Helicopter
    Abdolhosseini, M.
    Zhang, Y. M.
    Rabbath, C. A.
    [J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2013, 70 (1-4) : 27 - 38
  • [2] Switching model predictive attitude control for a quadrotor helicopter subject to atmospheric disturbances
    Alexis, Kostas
    Nikolakopoulos, George
    Tzes, Anthony
    [J]. CONTROL ENGINEERING PRACTICE, 2011, 19 (10) : 1195 - 1207
  • [3] [Anonymous], IEEE T CONTROL SYST
  • [4] [Anonymous], IET CONTROL THEORY A
  • [5] [Anonymous], INT C CONTR AUT ROB
  • [6] [Anonymous], 1987, Unconstrained Optimization: Practical Methods of Optimization
  • [7] [Anonymous], 2016, IRRIGA, DOI [DOI 10.15809/irriga.2016v1n01p262-288, DOI 10.15809/IRRIGA.2016V1N01P262-288]
  • [8] [Anonymous], IEEE CONTRO IN PRESS
  • [9] [Anonymous], INT WORKSH ADV MOT C
  • [10] [Anonymous], 2003, P ADV NEUR INF PROC