Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
5004026 | ISA Transactions | 2016 | 9 Pages |
Abstract
This paper presents a predictive control algorithm for non-linear systems based on successive linearizations of the non-linear dynamic around a given trajectory. A linear time varying model is obtained and the non-convex constrained optimization problem is transformed into a sequence of locally convex ones. The robustness of the proposed algorithm is addressed adding a convex contractive constraint. To account for linearization errors and to obtain more accurate results an inner iteration loop is added to the algorithm. A simple methodology to obtain an outer bounding-tube for state trajectories is also presented. The convergence of the iterative process and the stability of the closed-loop system are analyzed. The simulation results show the effectiveness of the proposed algorithm in controlling a quadcopter type unmanned aerial vehicle.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
M. Murillo, G. Sánchez, L. Giovanini,