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Designing a hierarchical model-predictive controller for tracking an unknown ground moving target using a 6-DOF quad-rotor
, Article International Journal of Dynamics and Control ; September , 2020 ; Badri, P ; Mohammadkhani, H ; Sharif University of Technology
Springer Science and Business Media Deutschland GmbH
2020
Abstract
In this paper, a hierarchical predictive controller is designed in order to solve the tracking problem of a moving ground target by a quad-rotor in an unknown and uneven environment. This controller has internal and external predictive controller levels. In the lower layer of the controller, a constrained predictive controller is designed that is capable of rejecting perturbations and quickly tracking the reference path, and in the outer loop, a model predictive controller is designed to optimally detect the moving ground target where, the sub-cost functions were defined so that the quad-rotor would be able to track the moving ground target even if it was temporarily out of sight of the...
Designing a hierarchical model-predictive controller for tracking an unknown ground moving target using a 6-DOF quad-rotor
, Article International Journal of Dynamics and Control ; Volume 9, Issue 3 , 2021 , Pages 985-999 ; 2195268X (ISSN) ; Badri, P ; Mohammadkhani, H ; Sharif University of Technology
Springer Science and Business Media Deutschland GmbH
2021
Abstract
In this paper, a hierarchical predictive controller is designed in order to solve the tracking problem of a moving ground target by a quad-rotor in an unknown and uneven environment. This controller has internal and external predictive controller levels. In the lower layer of the controller, a constrained predictive controller is designed that is capable of rejecting perturbations and quickly tracking the reference path, and in the outer loop, a model predictive controller is designed to optimally detect the moving ground target where, the sub-cost functions were defined so that the quad-rotor would be able to track the moving ground target even if it was temporarily out of sight of the...