Nonlinear model predictive control on SE(3) for quadrotor trajectory tracking and obstacle avoidance

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dc.creatorJean C. Pereira
dc.creatorValter J. S. Leite
dc.creatorGuilherme Vianna Raffo
dc.date.accessioned2025-05-13T15:44:00Z
dc.date.accessioned2025-09-09T00:02:11Z
dc.date.available2025-05-13T15:44:00Z
dc.date.issued2019
dc.identifier.doi10.1109/ICAR46387.2019.8981578
dc.identifier.urihttps://hdl.handle.net/1843/82243
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartof19th International Conference on Advanced Robotics (ICAR)
dc.rightsAcesso Restrito
dc.subjectAeronave não tripulada
dc.subject.otherModel Predictive Control , Nonlinear Control , Obstacle Avoidance , National Institute Of Science , Nonlinear Model Predictive Control , Brazilian National Research Council , Inner Layer , Numerical Experiments , Control Performance , Unmanned Aerial Vehicles , Recent Contributions , Control Strategy , Optimization Problem , Optimal Control , Control Problem , Angular Velocity , Parameter Uncertainty , Nonlinear Programming , Optimization Criteria , Optimal Control Problem , Presence Of Disturbances , Underactuated Systems , Integration Of Activities , Disturbance Rejection , Inertial Frame , Prediction Horizon , Yaw Angle , Skew-symmetric , Constant Disturbance
dc.titleNonlinear model predictive control on SE(3) for quadrotor trajectory tracking and obstacle avoidance
dc.typeArtigo de evento
local.citation.epage160
local.citation.spage155
local.description.resumoSome recent contributions have emerged designing Nonlinear Model Predictive Control (NMPC) for UAVs. However, these approaches often split the problem into upper and inner layers, or attitude and position control, separately, which can be undesirable in complex tasks such as those involving optimal functional cost depending on position and attitude references simultaneously. Moreover, most of their controller's design does not handle the avoidance of representational singularities. Therefore, the present work proposes a NMPC formulated on the Special Euclidean group SE(3), which has a single optimization layer, for quadrotor safe trajectory tracking with obstacle avoidance capacity. A numerical experiment illustrates this proposal and is used to evaluate the controller's performance.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/8981578

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