This study focuses on predictive path-following control (PPFC) for a tilt-quadrotor UAV based on fully-actuated system (FAS) approaches. Rooted in the fundamental principle of tilt-quadrotor UAV model mechanics, the dynamic model of the tilt-quadrotor UAV is derived into a FAS model with multiple degree of freedoms. Concurrently, the PPFC-FAS control scheme is proposed for tilt-quadrotor UAV path-following, the path-following problem is transformed into a trajectory tracking problem with the tilt-quadrotor FAS model and parameterized path. If the cost function and the penalty function in the predictive performance index satisfies the certain conditions, the convergence of path-following errors is guaranteed. Finally, the simulation results verify the effectiveness and efficiency of the proposed PPFC-FAS control scheme.
Predictive Path-following Control for Tilt-quadrotor UAV based on Fully-actuated System Approaches
2024-05-10
1264096 byte
Conference paper
Electronic Resource
English
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