Abstract
In this paper, by effective use of a fast Quadratic Programing solver known as Hildreth’s Quadratic Programing Procedure, as well as adaptation of an Integral-Action-Embedded Model Predictive controller, it has been tried to design an autopilot control system for the purpose of three-dimensional trajectory tracking of an unmanned quad-rotor helicopter. Eventually, to demonstrate effectiveness and performance of the designed autopilot in addition to the simulation results, the suggested constrained MPC framework is successfully implemented on an unmanned quad-rotor helicopter testbed (known as Qball-X4) available at the Networked Autonomous Vehicles Lab. (NAVL) of Concordia University for three-dimensional autonomous flights of the system.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Erginer, B., Altug, E.: Modeling and PD Control of a Quadrotor VTOL Vehicle. In: IEEE Intelligent Vehicles Symposium, pp. 894–899 (2007)
Oner, K., Cetinsoy, E., Unel, M., Aksit, M., Kandemir, I., Gulez, K.: Dynamic Model and Control of a New Quadrotor UAV with Tilt-wing Mechanism. In: World Academy of Science, Engineering and Technology (2008)
Efe, M.O.: Robust Low Altitude Behavior Control of a Quadrotor Rotorcraft through Sliding Modes. In: Mediterranean Conf. on Control and Automation (2007)
Bouadi, H., Bouchoucha, M., Tadjine, M.: Sliding Mode Control Based on Backstepping Approach for an UAV Type Quadrotor. In: World Academy of Science, Engineering and Technology (2007)
Madani, T., Benallegue, A.: Backstepping Control for a Quadrotor Helicopter. In: International Conference on Intelligent Robots and Systems, pp. 3255–3260 (2006)
Lee, J.H.: Model Predictive Control: Review of the Three Decades of Development. International Journal of Control, Automation, and Systems 9(3), 415–424 (2011)
Maciejowski, J.M.: Predictive Control with Constraints. Prentice-Hall (October 2000)
Abdolhosseini, M., Zhang, Y., Rabbath, C.A.: An Efficient Model Predictive Control Scheme for an Unmanned Quad-rotor Helicopter. In: International Conference on Unmanned Aircraft Systems (2012)
Liu, Y.C.: Model Predictive Control with Integral Control and Constraint Handling for Mechatronic Systems. In: International Conference on Modelling, Identification and Control, Taiwan, pp. 424–429 (2010)
Lai, L.C., Yang, C.C., Wu, C.J.: Time-Optimal Control of a Hovering Quad-Rotor Helicopter. Journal of Intelligent and Robotic Systems, 115–135 (2006)
Quansers Rapid Control prototyping (QuaRC), http://www.quanser.com/quarc
Zhang, Y.M., Jiang, J.: Integrated Design of Reconfigurable Fault-Tolerant Control Systems. AIAA Journal of Guidance, Control, and Dynamics, 133–136 (2001)
Wang, L.: Model Predictive Control System Design and Implementation Using MATLAB. Springer, London (2009)
Fletcher, R.: Practical Methods of Optimization, 2nd edn. John Wiley & Sons (1987)
Dimitrov, D., Wieber, P.B., Stasse, O., Ferreau, H.J., Diedam, H.: An Optimized Linear Model Predictive Control Solver, pp. 309–318. Springer (2010)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Abdolhosseini, M., Zhang, Y.M., Rabbath, C.A. (2012). Trajectory Tracking with Model Predictive Control for an Unmanned Quad-rotor Helicopter: Theory and Flight Test Results. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7506. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33509-9_41
Download citation
DOI: https://doi.org/10.1007/978-3-642-33509-9_41
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33508-2
Online ISBN: 978-3-642-33509-9
eBook Packages: Computer ScienceComputer Science (R0)