Robust Adaptive Model Predictive Control of Quadrotors
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Author / Producer
Date
2021
Publication Type
Conference Paper
ETH Bibliography
yes
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Abstract
Robust adaptive model predictive control (RAMPC) is a novel control method that combines robustness guarantees with respect to unknown parameters and bounded disturbances into a model predictive control scheme. However, RAMPC has so far only been developed in theory. The goal of this paper is to apply RAMPC to a physical quadrotor experiment. To the best of our knowledge this is the first time that RAMPC has been applied in practice using a state space formulation. In doing so, we highlight important practical challenges such as computation of λ-contractive polytopes and dealing with measurement noise, and propose modifications to RAMPC so that it can be applied on a quadrotor. We first simulate quadrotor flight with a direct and a decoupled control architecture in different scenarios. The scenarios include: (i) an uncertain quadrotor mass and additive wind disturbance as part of a package delivery problem; and (ii) all rotor efficiencies drop as a power delivery problem. We then implement these scenarios on a physical quadrotor and present the experimental results.
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Publication status
published
Editor
Book title
2021 European Control Conference (ECC)
Journal / series
Volume
Pages / Article No.
657 - 662
Publisher
IEEE
Event
European Control Conference (ECC 2021)
Edition / version
Methods
Software
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Date collected
Date created
Subject
adaptive control; Model Predictive Control; Robust control
Organisational unit
08814 - Smith, Roy (Tit.-Prof.) (ehemalig) / Smith, Roy (Tit.-Prof.) (former)
Notes
Conference lecture held on June 30, 2021
Funding
178890 - Modeling, Identification and Control of Periodic Systems in Energy Applications (SNF)
Related publications and datasets
Is supplemented by: https://doi.org/10.3929/ethz-b-000534803