Design and flight experiments of a Tube-Based Model Predictive Controller for the AR.Drone 2.0 quadrotor

N. Michel; S. Bertrand; S. Olaru; G. Valmorbida; D. Dumur.

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Design and flight experiments of a Tube-Based Model Predictive Controller for the AR.Drone 2.0 quadrotor

机译：Ar.Drone 2.0 Quadrotor的基于管式模型预测控制器的设计和飞行实验

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This paper focuses on the design，implementation and experimental validation ofa Tube-Based Model Predictive Control (TBMPC) law for the stabilization of the horizontaldynamics of an Unmanned Aerial Vehicle (UAV) quadrotor. These dynamics are modelled bya discrete-time linear system subject to additive disturbance and polytopic constraints，whichmodel is derived through an identification strategy from experimental flight data that is adaptedto the subsequent design of invariant sets. The results obtained from a validation flight withthe TBMPC law are presented to illustrate the robust state and control input constraintssatisfaction.

机译：本文重点介绍了基于管的模型预测控制（TBMPC）法的设计，实施和实验验证，用于稳定无人机（UAV）四轮电机的水平动力学。这些动态由符合添加剂干扰和多拓限制的离散时间线性系统建模，通过从实验飞行数据的识别策略来源，它通过调整后续设计的实验飞行数据来源。提出了与TBMPC定律的验证飞行中获得的结果以说明强大的状态和控制输入约束。

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《IFAC PapersOnLine》 |2019年第22期|共6页
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N. Michel; S. Bertrand; S. Olaru; G. Valmorbida; D. Dumur.;
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Tube-Based MPCquadrotor UAVrobust controlconstrained control;

机译：基于管的MPCQuadrotor Uavrobust ControlConstreats控制;

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4. Design and flight experiments of a Tube-Based Model Predictive Controller for the AR.Drone 2.0 quadrotor [C] . N. Michel, S. Bertrand, S. Olaru, IFAC Workshop on Robot Control . 2020

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Design and flight experiments of a Tube-Based Model Predictive Controller for the AR.Drone 2.0 quadrotor

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