A robust control scheme for aerial path generation and tracking is proposed in this paper. The control structure is based on the MPC - Model Predictive Control- and the UDE -Uncertainty and Disturbance Estimator - approaches. Both algorithms can be used with simple controllers for becoming more robust with respect to nonlinear uncertainties and external disturbances. The proposed scheme is applied to a quadcopter vehicle. Experimental results confirm the well performance of the closed-loop system when tracking trajectories, even in the presence of perturbations.


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    Title :

    Robust control scheme for trajectory generation and tracking for quadcopters vehicles: Experimental results*


    Contributors:


    Publication date :

    2018-06-01


    Size :

    3016061 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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