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Last decade has seen a growing interest of robotics and control community towards understanding the dynamics and synthesis of control law for unmanned aerial vehicles (UAVs). Many control theoretic challenges are captured by UAV systems due to their inherent nonlinear dynamics and the underactuation characteristics. Quadrotor or quadcopter systems belongs(More)
The paper presents a nonlinear model predictive control (NMPC) strategy for stabilization and trajectory tracking control of planar vertical Take-off and landing (PVTOL) aircraft. PVTOL system is considered as a benchmark for investigating dynamics and control related issues for unmanned aerial vehicles (UAVs). Control problem of such systems is made(More)
This paper presents a novel two-stage regularized moving-horizon algorithm for PieceWise Affine (PWA) regression. At the first stage, the training samples are processed iteratively, and a Mixed-Integer Quadratic-Programming (MIQP) problem is solved to find the sequence of active modes and the model parameters which best match the training data, within a(More)
Least Squares Support Vector Machine (LS-SVM) is a computationally efficient kernel-based regression approach which has been recently applied to nonparametric identification of Linear Parameter Varying (LPV) systems. In contrast to parametric LPV identification approaches, LS-SVM based methods obviate the need to parameterize the scheduling dependence of(More)
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