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2015 Trajectory Tracking and Stabilization of a Quadrotor Using Model Predictive Control of Laguerre Functions
Mapopa Chipofya, Deok Jin Lee, Kil To Chong
Abstr. Appl. Anal. 2015(SI03): 1-11 (2015). DOI: 10.1155/2015/916864

Abstract

This paper presents a solution to stability and trajectory tracking of a quadrotor system using a model predictive controller designed using a type of orthonormal functions called Laguerre functions. A linear model of the quadrotor is derived and used. To check the performance of the controller we compare it with a linear quadratic regulator and a more traditional linear state space MPC. Simulations for trajectory tracking and stability are performed in MATLAB and results provided in this paper.

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Mapopa Chipofya. Deok Jin Lee. Kil To Chong. "Trajectory Tracking and Stabilization of a Quadrotor Using Model Predictive Control of Laguerre Functions." Abstr. Appl. Anal. 2015 (SI03) 1 - 11, 2015. https://doi.org/10.1155/2015/916864

Information

Published: 2015
First available in Project Euclid: 15 April 2015

zbMATH: 1342.93052
MathSciNet: MR3316994
Digital Object Identifier: 10.1155/2015/916864

Rights: Copyright © 2015 Hindawi

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Vol.2015 • No. SI03 • 2015
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