A model predictive controller for quadrocopter state interception
dc.contributor.author
Müller, Mark W.
dc.contributor.author
D'Andrea, Raffaello
dc.date.accessioned
2022-03-10T12:24:42Z
dc.date.available
2017-06-10T23:44:49Z
dc.date.available
2019-05-18T09:18:38Z
dc.date.available
2022-03-10T12:24:42Z
dc.date.issued
2013
dc.identifier.isbn
978-3-033-03962-9
en_US
dc.identifier.other
10.23919/ECC.2013.6669415
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/74305
dc.description.abstract
This paper presents a method for generating quadrocopter trajectories in real time, from some initial state to a final state defined by position, velocity and acceleration in a specified amount of time. The end state captures the attitude to within a rotation about the thrust axis. Trajectory generation is done by formulating the trajectory of the quadrocopter in its jerk, in discrete time, and then solving a convex optimisation problem on each decoupled axis. Convex bounds are derived to include feasibility constraints with respect to the quadrocopter's total allowable thrust and angular rates.
en_US
dc.language.iso
en
en_US
dc.publisher
IEEE
en_US
dc.title
A model predictive controller for quadrocopter state interception
en_US
dc.type
Conference Paper
dc.date.published
2013-12-02
ethz.book.title
2013 European Control Conference (ECC)
en_US
ethz.pages.start
1383
en_US
ethz.pages.end
1389
en_US
ethz.event
12th European Control Conference (ECC 2013)
en_US
ethz.event.location
Zurich, Switzerland
en_US
ethz.event.date
July 17-19, 2013
en_US
ethz.identifier.wos
ethz.identifier.scopus
ethz.publication.place
Piscataway, NJ
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02619 - Inst. Dynam. Syst. u. Regelungstechnik / Inst. Dynamic Systems and Control::03758 - D'Andrea, Raffaello / D'Andrea, Raffaello
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02619 - Inst. Dynam. Syst. u. Regelungstechnik / Inst. Dynamic Systems and Control::03758 - D'Andrea, Raffaello / D'Andrea, Raffaello
ethz.date.deposited
2017-06-10T23:45:52Z
ethz.source
ECIT
ethz.identifier.importid
imp5936512d6a11095149
ethz.ecitpid
pub:117550
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2017-07-12T11:55:50Z
ethz.rosetta.lastUpdated
2023-02-07T00:21:25Z
ethz.rosetta.versionExported
true
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