Trajectory Tracking Nonlinear Model Predictive Control for an Overactuated MAV
METADATA ONLY
Loading...
Author / Producer
Date
2020
Publication Type
Conference Paper
ETH Bibliography
yes
Citations
Altmetric
METADATA ONLY
Data
Rights / License
Abstract
This work presents a method to control omnidirectional micro aerial vehicles (OMAVs) for the tracking of 6-DoF trajectories in free space. A rigid body model based approach is applied in a receding horizon fashion to generate optimal wrench commands that can be constrained to meet limits given by the mechanical design and actuators of the platform. Allocation of optimal actuator commands is performed in a separate step. A disturbance observer estimates forces and torques that may arise from unmodeled dynamics or external disturbances and fuses them into the optimization to achieve offset-free tracking. Experiments on a fully overactuated MAV show the tracking performance and compare it against a classical PD-based controller. © 2020 IEEE.
Permanent link
Publication status
published
Editor
Book title
2020 IEEE International Conference on Robotics and Automation (ICRA)
Journal / series
Volume
Pages / Article No.
5342 - 5348
Publisher
IEEE
Event
IEEE International Conference on Robotics and Automation (ICRA 2020)
Edition / version
Methods
Software
Geographic location
Date collected
Date created
Subject
Organisational unit
03737 - Siegwart, Roland Y. (emeritus) / Siegwart, Roland Y. (emeritus)
02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
Notes
Due to the Coronavirus (COVID-19) the conference was conducted virtually.