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Application of Model Predictive Control to Position and Height Limitation of a Quadrotor Unmanned Aerial Vehicle

[+] Author Affiliations
Yiqun Dong, Zhixiang Liu, Bin Yu

Concordia University, Montreal, QC, Canada

Youmin Zhang

Xi’an University of Technology, Xi’an, Shaanxi, China

Paper No. DETC2015-47790, pp. V009T07A097; 8 pages
doi:10.1115/DETC2015-47790
From:
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 9: 2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5719-9
  • Copyright © 2015 by ASME

abstract

This paper discusses a position and height limitation control for a quadrotor UAV (Unmanned Aerial Vehicle) using Model Predictive Control (MPC) approach. Nonlinear dynamics of the quadrotor is discussed first, and decoupled linearized dynamics is obtained. For the implementation of MPC, extended state vector of vehicle is generated, and augmented linear dynamics is constructed. The MPC in this paper utilizes a set of Laguerre function as basis to approximate the future movement of modeled vehicle. Position/height constraints and vehicle actuator characteristics enter the dynamics as linearized inequalities, which could be solved on-line via a recursive optimization approach. While validations based on experimental tests will be conducted in future, currently simulations have been completed. Based on the simulation results, when state of the vehicle is laid within the permissible bound, it retains the same dynamics of original vehicle. However, if predicted response exceeds the limits, however, MPC will take effect and restrict associate vehicle states. The discussed MPC framework in this paper is considered to be applicable.

Copyright © 2015 by ASME

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