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Trajectory Tracking with Model Predictive Control for an Unmanned Quad-rotor Helicopter: Theory and Flight Test Results

  • Mahyar Abdolhosseini
  • Youmin M. Zhang
  • Camille Alain Rabbath
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7506)

Abstract

In this paper, by effective use of a fast Quadratic Programing solver known as Hildreth’s Quadratic Programing Procedure, as well as adaptation of an Integral-Action-Embedded Model Predictive controller, it has been tried to design an autopilot control system for the purpose of three-dimensional trajectory tracking of an unmanned quad-rotor helicopter. Eventually, to demonstrate effectiveness and performance of the designed autopilot in addition to the simulation results, the suggested constrained MPC framework is successfully implemented on an unmanned quad-rotor helicopter testbed (known as Qball-X4) available at the Networked Autonomous Vehicles Lab. (NAVL) of Concordia University for three-dimensional autonomous flights of the system.

Keywords

Trajectory Tracking Model Predictive Control (MPC) Offset-free Tracking Quad-rotor Helicopter 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Mahyar Abdolhosseini
    • 1
  • Youmin M. Zhang
    • 1
  • Camille Alain Rabbath
    • 1
  1. 1.Department of Mechanical and Industrial EngineeringConcordia UniversityMontrealCanada

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