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A Comparative Study Of Nonlinear MPC And Differential-Flatnes S-Based Control For Quadrotor Agile Flight.pdf

Arxiv21_MPC_Sun.pdf
Preview of A Comparative Study of Nonlinear MPC and Differential-Flatnes s-Based Control for Quadrotor Agile Flight
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📊 Size: 4.38 MB
📄 Pages: 17 pages
⬇️ Downloads: 36

Summary

The study evaluates both methods in simulation and real-world environments, tracking various agile trajectories at speeds up to 20 m/s. Results show NMPC excels in tracking dynamically infeasible trajectories but is computationally demanding and prone to numerical convergence issues. DFBC is more efficient but less accurate. Adding an inner-loop controller using incremental nonlinear dynamic inversion (INDI) and an aerodynamic drag model reduces tracking error by over 78% for both methods.

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Description

The study evaluates both methods in simulation and real-world environments, tracking various agile trajectories at speeds up to 20 m/s.

Technical Information

  • File Format: PDF
  • File Size: 4.38 MB
  • Pages: 17
  • Language: EN
  • Total Downloads: 36
  • Last Updated: 3 weeks ago

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