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Constrained generalized predictive control for obstacle avoidance in a quadcopter

Published online by Cambridge University Press:  06 June 2018

José Luis Mendoza-Soto ,
Luis Alvarez-Icaza  and
H. Rodríguez-Cortés Open the ORCID record for H. Rodríguez-Cortés [Opens in a new window]
José Luis Mendoza-Soto*
Affiliation:
División de Ingeniería Eléctrica, Facultad de Ingeniería, Universidad Nacional Autónoma de México, Av. Universidad 3000, Ciudad Universitaria, Coyoacán, Ciudad de México 04510, México
Luis Alvarez-Icaza
Affiliation:
Instituto de Ingeniería, Universidad Nacional Autónoma de México, Av. Universidad 3000, Ciudad Universitaria, Coyoacán, Ciudad de México 04510, México. E-mail: [email protected]
H. Rodríguez-Cortés
Affiliation:
Sección de Mecatrónica, Departamento de Ingeniería Eléctrica, Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional, Av. Instituto Politécnico Nacional 2508, Col. San Pedro Zacatenco, Gustavo A. Madero, Ciudad de México 07360, México. E-mail: [email protected]
*
*Corresponding author. E-mail: [email protected]
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Summary

This work proposes a strategy for position control and obstacle avoidance in a quadcopter based on constrained generalized predictive control and geometric attitude control. The approach allows real-time trajectory tracking using optimal control actions and avoids collisions with static obstacles whose position is known. An experimental validation of the proposed controller is presented.

Keywords

Generalized predictive controlQuadcopterUnmanned aerial vehicleObstacle avoidance
Type
Articles
Information
Robotica , Volume 36 , Issue 9 , September 2018 , pp. 1363 - 1385
Copyright
Copyright © Cambridge University Press 2018 

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