Abstract
AbstractA state‐dependent autoregressive with exogenous variables (SD‐ARX) model whose functional coefficients are approximated by sets of radial basis function (RBF) networks is proposed to describe the dynamic behavior of a quad‐rotor in this paper. This model is identified offline and used as an internal predictor of a receding horizon predictive controller to address the quad‐rotor's attitude control issue. In addition, the physical constraints of the system have been also taken into account during the controller design process. The results of real‐time control on a quad‐rotor aircraft illustrate satisfactory modeling accuracy in a large operating range and good performance of control approach proposed in this paper.
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