Gonzalez Villarreal, O., Rossiter, J.A. orcid.org/0000-0002-1336-0633 and Shin, H. (2018) Laguerre-based adaptive MPC for attitude stabilization of quad-rotor. In: Proceedings of 2018 UKACC 12th International Conference on Control (CONTROL). Control 2018: The 12th International UKACC Conference on Control, 05-07 Sep 2018, Sheffield, UK. IEEE , pp. 360-365. ISBN 978-1-5386-2864-5
Abstract
The application of predictive control methods in real-time to fast systems, such as quad-rotors, remains a challenge for its implementation in low-power embedded systems. This paper presents the application of an Adaptive Laguerre-based Model Predictive Controller (MPC) to the Attitude Stabilization of a Quadrotor. The formulation uses an Online System Identification algorithm based on Recursive Least Squares (RLS) with forgetting factor for parameter estimation, and a Laguerre-based Model Predictive Controller for achieving real-time calcu-lation/update of the control law. The developed control system was experimentally tested in a real quad-rotor, and the results demonstrate its real-time applicability in a low-power embedded platform.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Reproduced in accordance with the publisher's self-archiving policy. |
Keywords: | MPC; Laguerre; Adaptive; UAV; Quadrotor |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 25 Jul 2018 14:45 |
Last Modified: | 05 Dec 2018 15:04 |
Published Version: | https://doi.org/10.1109/CONTROL.2018.8516876 |
Status: | Published |
Publisher: | IEEE |
Refereed: | Yes |
Identification Number: | 10.1109/CONTROL.2018.8516876 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:133221 |