Explicit flatness-based MPC design for indoor nano-quadcopter position tracking

DOI10.1080/00207179.2024.2340690MaRDI QIDQ7023728zbMATH OpenFDO

Authors Huu-Thinh Do, Ionela Prodan

Publication date 21 February 2025

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207179.2024.2340690

Mathematics Subject Classification ID

Linearizations (93B18) Model predictive control (93B45) Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85)

Cites work

• Analysis and control of nonlinear systems. A flatness-based approach
• Constrained model predictive control: Stability and optimality
• Flat trajectory design and tracking with saturation guarantees: a nano-drone application
• Flatness and defect of non-linear systems: introductory theory and examples
• Global stabilization and restricted tracking for multiple integrators with bounded controls
• Grid k-d tree approach for point location in polyhedral data sets – application to explicit MPC
• Nested saturation control of multiple vector integrators and its application to motion control of UAVs
• Predictor-based control design for UAVs: robust stability analysis and experimental results
• Real-Time Suboptimal Model Predictive Control Using a Combination of Explicit MPC and Online Optimization
• Stabilizing model predictive control: on the enlargement of the terminal set
• The explicit linear quadratic regulator for constrained systems

Cited in

(1)

• Derivative-free Kalman filtering for a six-wheeled rover

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