E-resources
Peer reviewed
-
Wang, Dong; Pan, Quan; Shi, Yang; Hu, Jinwen; Zhao, Chunhui
IEEE transactions on cybernetics, 10/2021, Volume: 51, Issue: 10Journal Article
This article studies an efficient nonlinear model-predictive control (NMPC) scheme for trajectory tracking control of a quadrotor unmanned aerial vehicle (UAV). By augmenting the desired trajectory to a reference dynamical system, we can make the tracking task fit into the standard NMPC framework. In order to alleviate the heavy computational burden caused by solving the corresponding NMPC optimization problem online, we develop an improved continuation/generalized minimal residual (<inline-formula> <tex-math notation="LaTeX">{i}\text{C} </tex-math></inline-formula>/GMRES) algorithm. Compared with the standard C/GMRES method, the inequality constraint is relaxed by imposing the penalty term on the cost function. To guarantee the closed-loop system stability, we introduce a contraction constraint. Based on the proposed numerical algorithm and the stability constraint, we develop a novel efficient-NMPC algorithm to achieve acceptable control performance with reduced computational complexity. The numerical convergence of <inline-formula> <tex-math notation="LaTeX">{i}\text{C} </tex-math></inline-formula>/GMRES solutions and the closed-loop stability of efficient-NMPC are theoretically analyzed in the presence of the input constraint. Finally, the numerical simulations, software-in-the-loop (SIL) simulations, and the real-time experiment are given to demonstrate the effectiveness of the proposed <inline-formula> <tex-math notation="LaTeX">{i}\text{C} </tex-math></inline-formula>/GMRES algorithm and efficient-NMPC scheme.
![loading ... loading ...](themes/default/img/ajax-loading.gif)
Shelf entry
Permalink
- URL:
Impact factor
Access to the JCR database is permitted only to users from Slovenia. Your current IP address is not on the list of IP addresses with access permission, and authentication with the relevant AAI accout is required.
Year | Impact factor | Edition | Category | Classification | ||||
---|---|---|---|---|---|---|---|---|
JCR | SNIP | JCR | SNIP | JCR | SNIP | JCR | SNIP |
Select the library membership card:
If the library membership card is not in the list,
add a new one.
DRS, in which the journal is indexed
Database name | Field | Year |
---|
Links to authors' personal bibliographies | Links to information on researchers in the SICRIS system |
---|
Source: Personal bibliographies
and: SICRIS
The material is available in full text. If you wish to order the material anyway, click the Continue button.