Linear vs nonlinear mpc for trajectory tracking applied to rotary wing micro aerial vehicles
- Conference Paper
Precise trajectory tracking is a crucial property for Micro Air Vehicles (MAVs) to operate in cluttered environment or under disturbances. In this paper we present a detailed comparison between two state-of-the-art model-based control techniques for MAV trajectory tracking. A classical Linear Model Predictive Controller (LMPC) is presented and compared against a more advanced Nonlinear Model Predictive Controller (NMPC) that considers the full system model. In a careful analysis we show the advantages and disadvantages of the two implementations in terms of speed and tracking performance. This is achieved by evaluating hovering performance, step response, and aggressive trajectory tracking under nominal conditions and under external wind disturbances. Show more
Book title20th IFAC World Congress. Proceedings
Journal / seriesIFAC-PapersOnLine
Pages / Article No.
SubjectUAVs; Predictive control; Trajectory Tracking and Path Following; Real-time control
Organisational unit03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
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Is new version of: http://hdl.handle.net/20.500.11850/127858
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