High-Performance Model Predictive Control for Quadcopters with Formal Stability Guarantees
Fuente:
arXiv
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| Autori principali: | , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| Soggetti: | |
| Accesso online: | |
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| _version_ | 1866912171808522240 |
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| author | Izadi, Maedeh Cobbenhagen, A. T. J. R. Sommer, Ruben Andriën, A. R. P. Lefeber, Erjen Heemels, W. P. M. H. |
| author_facet | Izadi, Maedeh Cobbenhagen, A. T. J. R. Sommer, Ruben Andriën, A. R. P. Lefeber, Erjen Heemels, W. P. M. H. |
| contents | In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopter. The proposed approach features a model predictive control strategy for the outer loop, explicitly accounting for the non-zero total thrust constraint. The outer-loop controller generates an acceleration reference, which is then converted into attitude, angular velocity and acceleration references, subsequently tracked by a nonlinear inner-loop controller. The proposed cascade control strategy is validated through numerical case studies, underlying high-fidelity models, demonstrating its ability to track fast trajectories with small error. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_20277 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | High-Performance Model Predictive Control for Quadcopters with Formal Stability Guarantees Izadi, Maedeh Cobbenhagen, A. T. J. R. Sommer, Ruben Andriën, A. R. P. Lefeber, Erjen Heemels, W. P. M. H. Systems and Control Optimization and Control In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopter. The proposed approach features a model predictive control strategy for the outer loop, explicitly accounting for the non-zero total thrust constraint. The outer-loop controller generates an acceleration reference, which is then converted into attitude, angular velocity and acceleration references, subsequently tracked by a nonlinear inner-loop controller. The proposed cascade control strategy is validated through numerical case studies, underlying high-fidelity models, demonstrating its ability to track fast trajectories with small error. |
| title | High-Performance Model Predictive Control for Quadcopters with Formal Stability Guarantees |
| topic | Systems and Control Optimization and Control |
| url | https://arxiv.org/abs/2412.20277 |