Model predictive control of an autonomous blimp with input and output constraints

Model predictive control of an autonomous blimp with input and output constraints
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DOI：
10.1109/cacsd-cca-isic.2006.4776979
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发表时间：
2006-10
期刊：
2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control
影响因子：
--
通讯作者：
H. Fukushima;Ryosuke Saito;Fumitoshi Matsuno;Yasushi Hada;K. Kawabata;H. Asama
H. Fukushima;Ryosuke Saito;Fumitoshi Matsuno;Yasushi Hada;K. Kawabata;H. Asama
中科院分区：
其他
文献类型：
--
作者：
H. Fukushima;Ryosuke Saito;Fumitoshi Matsuno;Yasushi Hada;K. Kawabata;H. Asama

文献摘要

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本文从安全性的角度出发，研究了在考虑执行器饱和和输出限制的情况下，如何设计自主飞行控制系统。模型预测控制（MPC）是处理此类约束的最系统的方法之一。为了实现MPC，我们首先构建一个简单的线性模型连接到一个死区的非线性实验数据的基础上。然后，MPC控制器推导出离线分段仿射状态反馈法的基础上的鲁棒MPC方法，以考虑添加剂的不确定性。室内实验进行调查的MPC控制器的有效性的基础上获得的简单模型。
This paper focuses on how to design autonomous flight control systems taking into account input constraints due to actuator saturations and output limitations from the viewpoint of security. Model predictive control (MPC) is one of the most systematic ways to handle such constraints. To implement MPC, we first construct a simple linear model connected to a deadzone nonlinearity based on experimental data. Then, MPC controllers are derived offline as piecewise affine state feedback laws based on a robust MPC approach to take into account additive uncertainties. Indoor experiments are performed to investigate the effectiveness of the MPC controllers obtained based on the simple model.