An MPC-based position controller for a tilt-rotor tricopter VTOL UAV

• Main Authors: Prach, Anna, Kayacan, Erdal
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2018
• Subjects: Model Predictive Control; Tilt-rotor Tricopter
• Online Access: https://hdl.handle.net/10356/87277; http://hdl.handle.net/10220/44383
• Institution: Nanyang Technological University

This study presents a novel framework, namely, the fusion of a conventional controller and a linear model predictive controller, for the position control of a tilt-rotor tricopter. While the conventional controller in the outer loop is responsible for the position control, the inner-loop model predi...