Design and Real-Time Implementation of a Cascaded Model Predictive Control Architecture for Unmanned Aerial Vehicles
Patricio Borbolla-Burillo,
David Sotelo,
Michael Frye
et al.
Abstract:Modeling and control are challenging in unmanned aerial vehicles, especially in quadrotors where there exists high coupling between the position and the orientation dynamics. In simulations, conventional control strategies such as the use of a proportional–integral–derivative (PID) controller under different configurations are typically employed due to their simplicity and ease of design. However, linear assumptions have to be made, which turns into poor performance for practical applications on unmanned aeria… Show more
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