A tracking error control approach for model predictive position control of a quadrotor with time varying reference.

Dentler, Jan; Kannan, Somasundar; Olivares Mendez, Miguel Angel; Voos, Holger

Abstract

In mobile robotic applications, a common problem is the following of a given trajectory with a constant velocity. Using standard model predictive control (MPC) for tracking of time varying trajectories leads to a constant tracking error. This problem is modelled in this paper as quadrotor position tracking problem. The presented solution is a computationally light-weight target position control (TPC), that controls the tracking error of MPCs for constantly moving targets. The proposed technique is assessed mathematically in the Laplace domain, in simulation, as well as experimentally on a real quadrotor system.

Citation

DENTLER, J., KANNAN, S., OLIVARES MENDEZ, M.A., and VOOS, H. 2016. A tracking error control approach for model predictive position control of a quadrotor with time varying reference. In Proceedings of the 2016 IEEE (Institute of Electrical and Electronics Engineers) international conference on Robotics and biomimetrics (ROBIO 2016), 3-7 December 2016, Qingdao, China. Piscataway: IEEE [online], pages 2051-2056. Available from: https://doi.org/10.1109/ROBIO.2016.7866631

• Conference Name: 2016 IEEE (Institute of Electrical and Electronics Engineers) international conference on Robotics and biomimetrics (ROBIO 2016)
• Conference Location: Qingdao, China
• Start Date: Dec 3, 2016
• End Date: Dec 7, 2016
• Acceptance Date: Sep 23, 2016
• Online Publication Date: Dec 7, 2016
• Publication Date: Mar 2, 2017
• Deposit Date: Dec 6, 2022
• Publicly Available Date: Dec 6, 2022
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• Pages: 2051-2056
• DOI: https://doi.org/10.1109/ROBIO.2016.7866631
• Keywords: Target tracking; Trajectory; Computational modeling; Position control; Predictive models; Unmanned aerial vehicles; Security
• Public URL: https://rgu-repository.worktribe.com/output/1279846