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Title
Japanese: 
English:Nonlinear Model Predictive Control of a Fully-actuated UAV on SE(3) using Acceleration Characteristics of the Structure 
Author
Japanese: 田所 祐一, 伊吹 竜也, 三平 満司.  
English: Yuichi Tadokoro, Tatsuya Ibuki, Mitsuji Sampei.  
Language English 
Journal/Book name
Japanese: 
English:Proceeding of 2019 12th Asian Control Conference 
Volume, Number, Page         pp. 283-288
Published date June 9, 2019 
Publisher
Japanese: 
English:JSME 
Conference name
Japanese: 
English:2019 12th Asian Control Conference 
Conference site
Japanese: 
English:Fukuoka 
Abstract This paper presents a nonlinear model predictive control problem of fully-actuated hexrotor unmanned aerial vehicle. First, mathematical preliminaries of body dynamics are described, and the hexrotor dynamics on the special Euclidean group SE(3) is formulated. By using log operator on the special orthogonal group SO(3), the state error is calculated without relying on local representations such as Euler angles. A quadratic cost function is then defined using the presented state error function, and a nonlinear optimal control problem is considered. Nonlinear model predictive control scheme enables to consider input constraints and the cost of gravity compensation. The numerical simulation result shows that the model predictive controller chooses energy-efficient input for each structure considering its acceleration characteristics.

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