Networked Quadrotor Predictive Control Based on Identified Models
作者单位：Center for Control Theory and Guidance Technology Harbin Institute of Technology School of Engineering University of South Wales Key Laboratory of Fieldbus Technology and Automation of Beijing North China University of Technology
会议名称：《第37届中国控制会议》
会议日期：2018年
学科分类：08[工学] 081105[工学-导航、制导与控制] 082503[工学-航空宇航制造工程] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程]
基 金：supported in part by the National Natural Science Foundation of China under Grant 61673023 the Beijing Natural Science Foundation under Grant 4182019
关 键 词：Quadrotor predictive PID controller model identification
摘 要：In order to achieve good performance of controlling quadrotors with networked delays, this paper firstly proposes a novel experimental architecture aiming to boost the whole process of the experiment and save expenses. Secondly, different from traditional methods of mathematical modelling, the models adopted in this paper are identified rather than derived or calculated using measured systematic parameters. Thirdly, the dynamic models of the system need to be verified before implemented into further experiments. Finally, based on the classic scheme of a proportional-integral-derivative（PID） control algorithm, a predictive PID controller is designed for quadrotor trajectory tracking, and the results show that the designed controller can fulfill the task of tracking with time delays.