Adilson Souza Candido

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This paper addresses the problem of actuator fault diagnosis and control of a realistic nonlinear six degree-of-freedom quadrotor helicopter model, based on interacting multiple model (IMM) filter and a switching multi-model predictive controller (MMPC). The proposed methods were evaluated by numerical simulation, and the faults were modeled by increasing(More)
Model predictive control (MPC) designates a class of moving-horizon optimal control techniques based on the use of a process model to make predictions of the plant output. Over the past 30 years, several MPC formulations have been reported in the literature. These formulations differ from each other mainly in the type of process and disturbance models(More)
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