Abstract
AbstractIn this article a switching Model Predictive Controller for the attitude and hovering control of a prototype Unmanned quadrotor Helicopter (UqH) subject to atmospheric disturbances is presented. The control scheme is computed based on Piecewise Affine (PWA) models of the UqH's attitude and altitude dynamics, where the effects of the atmospheric turbulence are taken into consideration as additive disturbances. The switching of the MPC scheme is ruled by the estimation and the rate of the rotation angles, for the altitude and attitude control correspondingly. Extended experimental studies indicate the overall scheme's efficiency in hovering scenarios despite the applied wind–disturbances.
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