Model Predictive Control for a 3-DOF Flapping-Wing Unmanned Aerial Vehicle with Control Constraints                         ∗

Bing Zhu; Zongyu Zuo; Liang Sun; Yao Zou; Kewei Xia

doi:10.1109/ICARM.2018.8610811

Model Predictive Control for a 3-DOF Flapping-Wing Unmanned Aerial Vehicle with Control Constraints ^∗

Bing Zhu, Zongyu Zuo, Liang Sun, Yao Zou, Kewei Xia

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

A model predictive controller (MPC) is proposed in this paper for a 3-DOF flapping-wing unmanned aerial vehicle (UAV) to track the reference set point. The proposed MPC is designed by using an averaged model of the 3-DOF flapping UAV, where the control constraints are considered. In the formulation of the MPC, nonlinear control inputs are transformed into linear ones, and constraints are re-designed for the linear control inputs, such that original constraints are satisfied. With the proposed MPC strategy, the set-point tracking error of the flapping-wing UAV can be proved ultimately bounded. A numerical example is provided to demonstrate the theoretical result.

Original language	English
Title of host publication	ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	548-553
Number of pages	6
ISBN (Electronic)	9781538670668
DOIs	https://doi.org/10.1109/ICARM.2018.8610811
Publication status	Published - 11 Jan 2019
Externally published	Yes
Event	3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018 - Singapore, Singapore Duration: 18 Jul 2018 → 20 Jul 2018

Publication series

Name	ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics

Conference

Conference	3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018
Country/Territory	Singapore
City	Singapore
Period	18/07/18 → 20/07/18

Keywords

Model predictive control
control constraints
flapping-wing
unmanned aerial vehicles

Access to Document

10.1109/ICARM.2018.8610811

Cite this

Zhu, B., Zuo, Z., Sun, L., Zou, Y., & Xia, K. (2019). Model Predictive Control for a 3-DOF Flapping-Wing Unmanned Aerial Vehicle with Control Constraints ^∗ In ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics (pp. 548-553). Article 8610811 (ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARM.2018.8610811

Zhu, Bing ; Zuo, Zongyu ; Sun, Liang et al. / Model Predictive Control for a 3-DOF Flapping-Wing Unmanned Aerial Vehicle with Control Constraints ^∗ ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 548-553 (ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics).

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title = " Model Predictive Control for a 3-DOF Flapping-Wing Unmanned Aerial Vehicle with Control Constraints ∗ ",

abstract = "A model predictive controller (MPC) is proposed in this paper for a 3-DOF flapping-wing unmanned aerial vehicle (UAV) to track the reference set point. The proposed MPC is designed by using an averaged model of the 3-DOF flapping UAV, where the control constraints are considered. In the formulation of the MPC, nonlinear control inputs are transformed into linear ones, and constraints are re-designed for the linear control inputs, such that original constraints are satisfied. With the proposed MPC strategy, the set-point tracking error of the flapping-wing UAV can be proved ultimately bounded. A numerical example is provided to demonstrate the theoretical result.",

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Zhu, B, Zuo, Z, Sun, L, Zou, Y & Xia, K 2019, Model Predictive Control for a 3-DOF Flapping-Wing Unmanned Aerial Vehicle with Control Constraints ^∗ in ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics., 8610811, ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics, Institute of Electrical and Electronics Engineers Inc., pp. 548-553, 3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018, Singapore, Singapore, 18/07/18. https://doi.org/10.1109/ICARM.2018.8610811

Model Predictive Control for a 3-DOF Flapping-Wing Unmanned Aerial Vehicle with Control Constraints ^∗ . / Zhu, Bing; Zuo, Zongyu; Sun, Liang et al.
ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics. Institute of Electrical and Electronics Engineers Inc., 2019. p. 548-553 8610811 (ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Zhu B, Zuo Z, Sun L, Zou Y, Xia K. Model Predictive Control for a 3-DOF Flapping-Wing Unmanned Aerial Vehicle with Control Constraints ^∗ In ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics. Institute of Electrical and Electronics Engineers Inc. 2019. p. 548-553. 8610811. (ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics). doi: 10.1109/ICARM.2018.8610811