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Model Predictive Tracking Controller for Quadcopters with Setpoint Convergence Guarantees

机译：具有设定点收敛保证的四轴飞行器模型预测跟踪控制器

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This paper tackles the trajectory tracking problem for a quadrotor following a cascaded control design approach; an outer-loop model predictive controller (MPC) generates acceleration references to be tracked by an inner-loop nonlinear attitude controller

机译：本文采用级联控制设计方法解决了四旋翼的轨迹跟踪问题。外环模型预测控制器（MPC）生成要由内环非线性姿态控制器跟踪的加速度参考

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《Annual American Control Conference》|2020年|3205-3210|共6页
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Alex Andriën; Demy Kremers; Dave Kooijman; Duarte Antunes;
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Acceleration; Attitude control; Predictive models; Control design; Trajectory; Convergence; Trajectory tracking;

机译：加速度;姿态控制;预测模型;控制设计;轨迹;收敛;轨迹跟踪;

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专利

1. Robust model predictive control with guaranteed setpoint tracking [J] . Pannocchia G Journal of Process Control . 2004,第8期

机译：可靠的模型预测控制，保证设定点跟踪
2. Exponential parameter and tracking error convergence guarantees for adaptive controllers without persistency of excitation [J] . Girish Chowdhary, Maximilian Mühlegg, Eric Johnson International Journal of Control . 2014,第7a9期

机译：自适应参数的指数参数和跟踪误差收敛性保证了励磁的持久性
3. Guaranteed rates of convergence of a class of PD controllers for trajectory tracking problems of robotic manipulators with dynamic uncertainties [J] . Wang J., Dodds S.J. IEE Proceedings. Part D . 1996,第2期

机译：具有动态不确定性的机械手轨迹跟踪问题的一类PD控制器的保证收敛速度
4. Model Predictive Tracking Controller for Quadcopters with Setpoint Convergence Guarantees [C] . Alex Andrien, Demy Kremers, Dave Kooijman, American Control Conference . 2019

机译：带设定点收敛保证的Quadcopters模型预测跟踪控制器
5. Setpoint tracking predictive control in chemical processes based on system identification. [D] . Chinvorarat, Sinchai. 1999

机译：基于系统识别的化学过程中的设定点跟踪预测控制。
6. Data-Driven Modeling of a Pilot Plant Batch Reactorand Validation of a Nonlinear Model Predictive Controller for DynamicTemperature Profile Tracking [O] . EadalaSarath Yadav, ⊥, Prajwal Shettigar J, 2021

机译：试点厂家批量反应堆的数据驱动建模动态的非线性模型预测控制器的验证温度曲线跟踪
7. Reduced Order Model Predictive Control For Setpoint Tracking [O] . Joseph Lorenzetti, Benoit Landry, Sumeet Singh, 2019

机译：减少阶模型预测控制设定点跟踪

Model Predictive Tracking Controller for Quadcopters with Setpoint Convergence Guarantees

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