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

• Main Authors: Prach, Anna, Kayacan, Erdal
• 其他作者: School of Mechanical and Aerospace Engineering
• 格式: Article
• 語言: English
• 出版: 2018
• 主題: Model Predictive Control; Tilt-rotor Tricopter
• 在線閱讀: https://hdl.handle.net/10356/87277; http://hdl.handle.net/10220/44383

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...