Embedded Fast Nonlinear Model Predictive Control for Micro Aerial Vehicles

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00353586" target="_blank" >RIV/68407700:21230/21:00353586 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1007/s10846-021-01522-y" target="_blank" >https://doi.org/10.1007/s10846-021-01522-y</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/s10846-021-01522-y" target="_blank" >10.1007/s10846-021-01522-y</a>

Result language
angličtina
Original language name
Embedded Fast Nonlinear Model Predictive Control for Micro Aerial Vehicles
Original language description
Very small size or micro, aerial vehicles are being recently studied due to the large influence of environmental disturbances. The multirotor aerial vehicle (MAV) usually requires control approaches that can guarantee a safe operation. However, limitations with respect to the embedded system (i.e. energy, processing power, memory, etc.) are usually present. In this work, we propose the use of Nonlinear model predictive control (NMPC), which can safely respect input constraints. In contrast, the application of NMPC in embedded systems of Micro-MAV is typically challenging. To solve this issue, we propose a modification on the NMPC called Embedded Fast NMPC that can ensure the implementation of the position controller safely and stably. Micro Multirotor Aerial Vehicles (Micro-MAVs) use low processing power boards. These boards usually rely solely on on-board sensors to perform localization and target detection, which in turn makes this platform suitable for experiments in GNSS-denied environments. We validate our approach with real robot experiments using a Micro-MAV.
Czech name
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Czech description
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Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control

Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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