基于多参数规划的无人机串级控制系统

Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI:10.1145/3191477.3191484

Dao Phuong Nam, T. Khanh, Le Duy Tung, La Van Truong, N. Quyen

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引用次数: 0

摘要

研究了无人机的串级控制问题。所提出的控制结构是一种分层结构，包括基于多参数规划(MPP)技术的离线模型预测控制(MPC)和基于遗传算法(GA)的轨迹生成器。仿真结果表明了该策略的有效性。

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Multi-Parametric Programming based Cascade Control System for Unmanned Aerial Vehicles

This paper considers the problem of cascade control system for unmanned aerial vehicles (UAVs). The proposed control structure is a hierarchical scheme including an offline model predictive control (MPC) based on multi-parametric programming (MPP) technique and trajectory generator using genetic algorithm (GA). Simulation results are presented to show the effectiveness of the proposed strategy.

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Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering

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