Explicit Interpolating Control of Unmanned Aerial Vehicle
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F19%3A43956251" target="_blank" >RIV/49777513:23520/19:43956251 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/MMAR.2019.8864719" target="_blank" >http://dx.doi.org/10.1109/MMAR.2019.8864719</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/MMAR.2019.8864719" target="_blank" >10.1109/MMAR.2019.8864719</a>
Alternative languages
Result language
angličtina
Original language name
Explicit Interpolating Control of Unmanned Aerial Vehicle
Original language description
The paper deals with the constrained suboptimal control of a quadrotor Unmanned Aerial Vehicle (UAV). First the Optimal Control Problem (OCP) with constraints is formulated and afterwards two methodologies that provide an approximate solution to the OCP are introduced. The first one is called Model Predictive Control (MPC) which is standard methodology used in this field and it deals with the OCP on the shorter receding horizon. The second one is Interpolating Control (IC) that uses interpolation of two controllers with different properties, the optimal Linear-Quadratic (LQ) controller and vertex controller for the unconstrained and constrained cases, respectively. Both methodologies are implemented and compared in the simulation on a planar nonlinear model of the UAV.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20205 - Automation and control systems
Result continuities
Project
<a href="/en/project/LO1506" target="_blank" >LO1506: Sustainability support of the centre NTIS - New Technologies for the Information Society</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach<br>I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
Others
Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of 24th International Conference on Methods and Models in Automation & Robotics
ISBN
978-1-72810-933-6
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
384-389
Publisher name
IEEE
Place of publication
Międzyzdroje
Event location
Międzyzdroje, Poland
Event date
Aug 24, 2019
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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