Trajectory Tracking and Stabilization of a Quadrotor Using Model Predictive Control of Laguerre Functions-Reference-Cited by-同舟云学术

Trajectory Tracking and Stabilization of a Quadrotor Using Model Predictive Control of Laguerre Functions

Published:2015 Issue: Volume:2015 Page:1-11
ISSN:1085-3375
Container-title:Abstract and Applied Analysis
language:en
Short-container-title:Abstract and Applied Analysis

Author:

Chipofya Mapopa¹^ORCID,Lee Deok Jin²,Chong Kil To¹

Affiliation:

1. Department of Electronic Engineering, Chonbuk National University, Room 421, Engineering Building No. 7, 567 Baekje-daero, Deokjin-gu, Jeonju-si, Jeollabuk-do 561-756, Republic of Korea

2. Department of Mechanical Engineering, Kunsan National University, Republic of Korea

Abstract

This paper presents a solution to stability and trajectory tracking of a quadrotor system using a model predictive controller designed using a type of orthonormal functions called Laguerre functions. A linear model of the quadrotor is derived and used. To check the performance of the controller we compare it with a linear quadratic regulator and a more traditional linear state space MPC. Simulations for trajectory tracking and stability are performed in MATLAB and results provided in this paper.

Funder

National Research Foundation of Korea

Publisher

Hindawi Limited

Subject

Applied Mathematics,Analysis

Link

http://downloads.hindawi.com/journals/aaa/2015/916864.pdf

Reference5 articles.

1. Successive Loop Closure Based Controller Design for an Autonomous Quadrotor Vehicle

2. Advances in Industrial Control,2009

3. Receding horizon tracking control for wheeled mobile robots with time-delay

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