A Model Predictive Guidance Strategy for a Multirotor Aerial Vehicle
Autor(a) principal: | |
---|---|
Data de Publicação: | 2017 |
Outros Autores: | |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Journal of Aerospace Technology and Management (Online) |
Texto Completo: | http://old.scielo.br/scielo.php?script=sci_arttext&pid=S2175-91462017000100116 |
Resumo: | ABSTRACT: The present study faces the problem of safely controlling the position trajectory of a multirotor aerial vehicle subjected to a conic constraint on the total thrust vector and a linear convex constraint on the position vector. The problem is solved using a linear state-space model predictive control strategy, whose optimization is made handy by replacing the original conic constraint set on the thrust vector by an inscribed pyramidal space, which renders a linear set of inequalities. The proposed method is evaluated on the basis of Monte Carlo simulations taking into account a random disturbance force. The simulation results show the effectiveness of the method in tracking the commanded trajectory while respecting the constraints. They also predict the effect of both the speed command and the maximum allowed inclination angle on the system performance. |
id |
DCTA-1_f861ec54149304c86c7897d7a45ec693 |
---|---|
oai_identifier_str |
oai:scielo:S2175-91462017000100116 |
network_acronym_str |
DCTA-1 |
network_name_str |
Journal of Aerospace Technology and Management (Online) |
repository_id_str |
|
spelling |
A Model Predictive Guidance Strategy for a Multirotor Aerial VehicleMultirotor aerial vehicleModel predictive controlPosition controlGuidanceABSTRACT: The present study faces the problem of safely controlling the position trajectory of a multirotor aerial vehicle subjected to a conic constraint on the total thrust vector and a linear convex constraint on the position vector. The problem is solved using a linear state-space model predictive control strategy, whose optimization is made handy by replacing the original conic constraint set on the thrust vector by an inscribed pyramidal space, which renders a linear set of inequalities. The proposed method is evaluated on the basis of Monte Carlo simulations taking into account a random disturbance force. The simulation results show the effectiveness of the method in tracking the commanded trajectory while respecting the constraints. They also predict the effect of both the speed command and the maximum allowed inclination angle on the system performance.Departamento de Ciência e Tecnologia Aeroespacial2017-03-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersiontext/htmlhttp://old.scielo.br/scielo.php?script=sci_arttext&pid=S2175-91462017000100116Journal of Aerospace Technology and Management v.9 n.1 2017reponame:Journal of Aerospace Technology and Management (Online)instname:Departamento de Ciência e Tecnologia Aeroespacial (DCTA)instacron:DCTA10.5028/jatm.v9i1.613info:eu-repo/semantics/openAccessPrado,Igor Afonso AcamporaSantos,Davi Antônio doseng2017-03-24T00:00:00Zoai:scielo:S2175-91462017000100116Revistahttp://www.jatm.com.br/ONGhttps://old.scielo.br/oai/scielo-oai.php||secretary@jatm.com.br2175-91461984-9648opendoar:2017-03-24T00:00Journal of Aerospace Technology and Management (Online) - Departamento de Ciência e Tecnologia Aeroespacial (DCTA)false |
dc.title.none.fl_str_mv |
A Model Predictive Guidance Strategy for a Multirotor Aerial Vehicle |
title |
A Model Predictive Guidance Strategy for a Multirotor Aerial Vehicle |
spellingShingle |
A Model Predictive Guidance Strategy for a Multirotor Aerial Vehicle Prado,Igor Afonso Acampora Multirotor aerial vehicle Model predictive control Position control Guidance |
title_short |
A Model Predictive Guidance Strategy for a Multirotor Aerial Vehicle |
title_full |
A Model Predictive Guidance Strategy for a Multirotor Aerial Vehicle |
title_fullStr |
A Model Predictive Guidance Strategy for a Multirotor Aerial Vehicle |
title_full_unstemmed |
A Model Predictive Guidance Strategy for a Multirotor Aerial Vehicle |
title_sort |
A Model Predictive Guidance Strategy for a Multirotor Aerial Vehicle |
author |
Prado,Igor Afonso Acampora |
author_facet |
Prado,Igor Afonso Acampora Santos,Davi Antônio dos |
author_role |
author |
author2 |
Santos,Davi Antônio dos |
author2_role |
author |
dc.contributor.author.fl_str_mv |
Prado,Igor Afonso Acampora Santos,Davi Antônio dos |
dc.subject.por.fl_str_mv |
Multirotor aerial vehicle Model predictive control Position control Guidance |
topic |
Multirotor aerial vehicle Model predictive control Position control Guidance |
description |
ABSTRACT: The present study faces the problem of safely controlling the position trajectory of a multirotor aerial vehicle subjected to a conic constraint on the total thrust vector and a linear convex constraint on the position vector. The problem is solved using a linear state-space model predictive control strategy, whose optimization is made handy by replacing the original conic constraint set on the thrust vector by an inscribed pyramidal space, which renders a linear set of inequalities. The proposed method is evaluated on the basis of Monte Carlo simulations taking into account a random disturbance force. The simulation results show the effectiveness of the method in tracking the commanded trajectory while respecting the constraints. They also predict the effect of both the speed command and the maximum allowed inclination angle on the system performance. |
publishDate |
2017 |
dc.date.none.fl_str_mv |
2017-03-01 |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://old.scielo.br/scielo.php?script=sci_arttext&pid=S2175-91462017000100116 |
url |
http://old.scielo.br/scielo.php?script=sci_arttext&pid=S2175-91462017000100116 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
10.5028/jatm.v9i1.613 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
text/html |
dc.publisher.none.fl_str_mv |
Departamento de Ciência e Tecnologia Aeroespacial |
publisher.none.fl_str_mv |
Departamento de Ciência e Tecnologia Aeroespacial |
dc.source.none.fl_str_mv |
Journal of Aerospace Technology and Management v.9 n.1 2017 reponame:Journal of Aerospace Technology and Management (Online) instname:Departamento de Ciência e Tecnologia Aeroespacial (DCTA) instacron:DCTA |
instname_str |
Departamento de Ciência e Tecnologia Aeroespacial (DCTA) |
instacron_str |
DCTA |
institution |
DCTA |
reponame_str |
Journal of Aerospace Technology and Management (Online) |
collection |
Journal of Aerospace Technology and Management (Online) |
repository.name.fl_str_mv |
Journal of Aerospace Technology and Management (Online) - Departamento de Ciência e Tecnologia Aeroespacial (DCTA) |
repository.mail.fl_str_mv |
||secretary@jatm.com.br |
_version_ |
1754732531606880256 |