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generalized predictive control

Robotica (1)

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Constrained generalized predictive control for obstacle avoidance in a quadcopter
José Luis Mendoza-Soto, Luis Alvarez-Icaza, H. Rodríguez-Cortés
Journal:

Robotica / Volume 36 / Issue 9 / September 2018

Published online by Cambridge University Press:

06 June 2018, pp. 1363-1385
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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.