Nonlinear Model Predictive Control with Constraint Satisfactions for a Quadcopter

13th European Workshop on Advanced Control and Diagnosis

Wang, Ye^1 ; Ramirez-Jaime, Andres^2 ; Xu, Feng^3 ; Puig, Vicenç^1

Advanced Control Systems (SAC) Research Group, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, Universitat Politècnica de Catalunya-BarcelonaTech (UPC), C/. Llorens i Artigas 4-6, Barcelona

08028, Spain^1

Departamento de Ingeniería Eléctrica y Electrónica, Universidad de Los Andes, Carrera 1, No. 18A-10, Colombia^2

Center of Intelligent Control and Telescience, Graduate School at Shenzhen, Tsinghua University, Shenzhen

518055, China^3

关键词: Constraint Satisfaction;    Control oriented models;    Inequality constraint;    Model errors;    Nonlinear model predictive control;    Quadcopter;   

Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/783/1/012025/pdf
DOI  :  10.1088/1742-6596/783/1/012025

来源: IOP

【 摘 要 】

This paper presents a nonlinear model predictive control (NMPC) strategy combined with constraint satisfactions for a quadcopter. The full dynamics of the quadcopter describing the attitude and position are nonlinear, which are quite sensitive to changes of inputs and disturbances. By means of constraint satisfactions, partial nonlinearities and modeling errors of the control-oriented model of full dynamics can be transformed into the inequality constraints. Subsequently, the quadcopter can be controlled by an NMPC controller with the updated constraints generated by constraint satisfactions. Finally, the simulation results applied to a quadcopter simulator are provided to show the effectiveness of the proposed strategy.