A multi-core software design of a model predictive control for a tilt-rotor UAV
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Universidade Federal de Minas Gerais
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This paper addresses the implementation of an embedded model predictive controller (MPC)
designed to solve the path tracking problem of a tilt-rotor unmanned aerial vehicle (UAV). The architecture of
the system is presented, describing its functional and non-functional features. The development of a dual-core
software architecture for implementing an MPC is proposed, making use of the Robot Operating System (ROS)
framework and the Gazebo simulator to obtain the numerical results. The software architecture approach is
designed in order to improve the time MPC performance using the multiple processors simultaneously.
Abstract
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Engenharia elétrica, Controle preditivo, Controle robusto, Transferência de funções, Incerteza
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Software Architecture, Multi-core, MPC, Embedded Systems
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https://www.sba.org.br/Proceedings/SBAI/SBAI2017/SBAI17/papers/paper_706.pdf