Model predictive quadrotor indoor position control

@article{Alexis2011ModelPQ,
  title={Model predictive quadrotor indoor position control},
  author={Kostas Alexis and Christos Papachristos and George Nikolakopoulos and Anthony Tzes},
  journal={2011 19th Mediterranean Conference on Control & Automation (MED)},
  year={2011},
  pages={1247-1252}
}
This article addresses the control problem of quadrotors in environments where absolute-localization data (GPS, positioning from external cameras) is inadequate. Based on an attached IMU and an optical flow sensor the quadrotor's translational velocity is estimated using an Extended Kalman Filter. Subject to the velocity measurements, the roll, pitch and yaw (RPY) angles, the angular rates and the translational accelerations a switching Model Predictive Controller is designed. The quadrotor… CONTINUE READING
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