Nonlinear Model Predictive Control of a Quadrotor
One of the most important features of a quadrotor in order to properly work, generally in some sort of path tracking, is to have a suitable control. This thesis will approach the problem of controlling a quadrotor applying the control technique known as Nonlinear Model Predictive Control. First, thi...
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| Formato: | tesis de maestría |
| Fecha de publicación: | 2016 |
| País: | España |
| Recursos: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/98503 |
| Acesso em linha: | https://hdl.handle.net/2117/98503 |
| Access Level: | acceso abierto |
| Palavra-chave: | Drone aircraft -- Automatic control Rotors Control theory Nonlinear systems Avions no tripulats -- Control automàtic Control, Teoria del Sistemes no lineals Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
| Resumo: | One of the most important features of a quadrotor in order to properly work, generally in some sort of path tracking, is to have a suitable control. This thesis will approach the problem of controlling a quadrotor applying the control technique known as Nonlinear Model Predictive Control. First, this control should guarantee stability and feasibility, and then the control parameters are tuned to obtain the better possible performance. Proper simulations will be performed by selecting different situations in terms of path tracking references, as well as in terms of the accuracy level of the control model with respect to the real system represented by a high-fidelity model. Additionally, the requirements for the controller to work in real time will be explored and discussed. |
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