Nonlinear model predictive control for hexacopter with failed rotors based on quaternions —simulations and hardware experiments—
This work applies real-time nonlinear model predictive control (NMPC) to fault-tolerant control problems of an unmanned aerial vehicle (UAV) with failed rotors. In the control problem, a hexacopter with up to three failed rotors out of the six available rotors is considered. The NMPC approach includ...
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| Auteurs principaux: | , , , , , |
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| Format: | article |
| Langue: | EN |
| Publié: |
The Japan Society of Mechanical Engineers
2021
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| Sujets: | |
| Accès en ligne: | https://doaj.org/article/d7138de5f2ea41fbae800de4dc0efb38 |
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