TY - GEN
T1 - Stewart-Inspired Posture Control for a UAV Undertaking Platform Based on Dynamic Model Predictive Control
AU - Hao, Zhang
AU - Shoukun, Wang
AU - Yan, Zehao
AU - Junzheng, Wang
N1 - Publisher Copyright:
© 2021 IEEE
PY - 2021
Y1 - 2021
N2 - In order to improve the accuracy and dynamic characteristics of unmanned aerial vehicle (UAV) undertaking platform with Stewart mechanism, a posture control strategy based on dynamic model predictive control algorithm is proposed in this paper. First, the dynamics of the Stewart platform is analyzed, and the state space expression of the dynamic model of the Stewart platform is established. Then, the algorithm based on the dynamic model predictive control is proposed, and the model predictive controller is designed. Finally, a simulation model of the UAV undertaking platform is established, the parameters of the model predictive controller are tuned, and the undertaking platform pose control simulation experiment is carried out. Physical experiments are performed to compare the control effects of traditional PID control and dynamics-based model predictive control on the undertaking platform.The results show that the model predictive control method based on dynamics can effectively improve the control accuracy and dynamic characteristics of the UAV undertaking platform.
AB - In order to improve the accuracy and dynamic characteristics of unmanned aerial vehicle (UAV) undertaking platform with Stewart mechanism, a posture control strategy based on dynamic model predictive control algorithm is proposed in this paper. First, the dynamics of the Stewart platform is analyzed, and the state space expression of the dynamic model of the Stewart platform is established. Then, the algorithm based on the dynamic model predictive control is proposed, and the model predictive controller is designed. Finally, a simulation model of the UAV undertaking platform is established, the parameters of the model predictive controller are tuned, and the undertaking platform pose control simulation experiment is carried out. Physical experiments are performed to compare the control effects of traditional PID control and dynamics-based model predictive control on the undertaking platform.The results show that the model predictive control method based on dynamics can effectively improve the control accuracy and dynamic characteristics of the UAV undertaking platform.
KW - UAV undertaking platform
KW - control precision
KW - dynamic characteristics
KW - kinetic model
KW - model predictive control
UR - http://www.scopus.com/inward/record.url?scp=85128099510&partnerID=8YFLogxK
U2 - 10.1109/CAC53003.2021.9727702
DO - 10.1109/CAC53003.2021.9727702
M3 - Conference contribution
AN - SCOPUS:85128099510
T3 - Proceeding - 2021 China Automation Congress, CAC 2021
SP - 3601
EP - 3606
BT - Proceeding - 2021 China Automation Congress, CAC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 China Automation Congress, CAC 2021
Y2 - 22 October 2021 through 24 October 2021
ER -