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Title: An explicit MPC for quadrotor trajectory tracking
Authors: Liu, Cunjia
Lu, Hao
Chen, Wen-Hua
Keywords: Model predictive control
Multi-parametric programming
Flight control
Trajectory tracking
Issue Date: 2015
Publisher: IEEE
Citation: LIU, C., LU, H. and CHEN, W.-H., 2015. An explicit MPC for quadrotor trajectory tracking. Presented at: The 34th Chinese Control Conference and SICE Annual Conference 2015 (CCC & SICE 2015), 28th-30th July 2015, Hangzhou, China.
Abstract: This paper intends to provide an explicit solution of model predictive control (MPC) for trajectory tracking of quadro- tors. This kind of MPC can be designed in a conventional way where a nonlinear optimisation problem needs to be solved online. In this paper by using the differential flatness property of the quadrotor, the reference trajectory, system outputs and inputs can be represented using Bezier curves. Thus, the formulated optimisation problem can be parameterised and converted into standard quadratic programming. The resulted quadratic programming problem can be further formulated into multiparametric quadratic programming which is then solved off-line as a piecewise affine function. The involved manipulations including the reduction of the number of optimisation variables and constraints are detailed in this paper. The performance of the proposed control scheme is demonstrated in a simulation study.
Description: Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Version: Accepted for publication
DOI: 10.1109/ChiCC.2015.7260264
URI: https://dspace.lboro.ac.uk/2134/18632
Publisher Link: http://dx.doi.org/10.1109/ChiCC.2015.7260264
Appears in Collections:Conference Papers and Presentations (Aeronautical and Automotive Engineering)

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