DocumentCode
724262
Title
Robust one-step-ahead model predictive control of VTOL-UAVs
Author
Hedjar, Ramdane
Author_Institution
Comput. Eng. Dept., King Saud Univ., Riyadh, Saudi Arabia
fYear
2015
fDate
23-25 May 2015
Firstpage
3053
Lastpage
3058
Abstract
This paper presents a simple continuous-time controller, based on the minimization of the predicted tracking errors, applied to unmanned aerial vehicle with fixed payload variations. This nonlinear controller ensures the asymptotic stability of the tracking errors of both attitude, take-off, hovering, and landing. To increase the robustness of this algorithm with regards to payload variations, an integral action has been included in height-loop. Simulation results show the effectiveness of the proposed algorithm.
Keywords
asymptotic stability; autonomous aerial vehicles; continuous time systems; entry, descent and landing (spacecraft); minimisation; predictive control; robust control; VTOL-UAVs; asymptotic stability; continuous-time controller; hovering; landing; minimization; predicted tracking errors; robust one-step-ahead model predictive control; take-off; unmanned aerial vehicle; Aerodynamics; Aircraft; Attitude control; Mathematical model; Payloads; Predictive control; Robustness; Predictive control; VTOL-UAV; payload; robustness;
fLanguage
English
Publisher
ieee
Conference_Titel
Control and Decision Conference (CCDC), 2015 27th Chinese
Conference_Location
Qingdao
Print_ISBN
978-1-4799-7016-2
Type
conf
DOI
10.1109/CCDC.2015.7162445
Filename
7162445
Link To Document