Trajectory tracking with model predictive control for an unmanned quad-rotor helicopter: theory and flight test results

Authors:
Mahyar Abdolhosseini;Youmin M. Zhang;Camille Alain Rabbath
Affiliations:
Department of Mechanical and Industrial Engineering, Concordia University, Montreal, QC, Canada;Department of Mechanical and Industrial Engineering, Concordia University, Montreal, QC, Canada;Department of Mechanical and Industrial Engineering, Concordia University, Montreal, QC, Canada
Venue:
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part I
Year:
2012

Citing 3
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Abstract

In this paper, by effective use of a fast Quadratic Programing solver known as Hildreth's Quadratic Programing Procedure, as well as adaptation of an Integral-Action-Embedded Model Predictive controller, it has been tried to design an autopilot control system for the purpose of three-dimensional trajectory tracking of an unmanned quad-rotor helicopter. Eventually, to demonstrate effectiveness and performance of the designed autopilot in addition to the simulation results, the suggested constrained MPC framework is successfully implemented on an unmanned quad-rotor helicopter testbed (known as Qball-X4) available at the Networked Autonomous Vehicles Lab. (NAVL) of Concordia University for three-dimensional autonomous flights of the system.