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Real-time model predictive control for quadrotors

Bangura, Moses; Mahony, Robert


This paper presents a solution to on-board trajectory tracking control of quadrotors. The proposed approach combines the standard hierarchical control paradigm that separates the control into low-level motor control, mid-level attitude dynamics control, and a high-level trajectory tracking with a model predictive control strategy. We use dynamic reduction of the attitude dynamics and dynamic extension of the thrust control along with feedback linearisation to obtain a linear system of McMillan...[Show more]

CollectionsANU Research Publications
Date published: 2014-03-07
Type: Conference paper
Source: The 19th World Congress of the International Federation of Automatic Control, Cape Town, South Africa, 24-29 August 2014 "Promoting automatic control for the benefit of humankind"


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