A constrained robust switching MPC structure for tilt-rotor UAV trajectory tracking problem
Abolfazl Eskandarpour,
Mehran Mehrandezh,
Kamal Gupta
et al.
Abstract:In tilt-rotor UAVs, both the fuselage and tilting rotors contribute to the vehicle's rotational motion. Consequently, the system's dynamics rise to a highly-nonlinear system, making it challenging to find feasible and desired control solutions. The common control practices devise a logic-based controller to switch between different flight modes or map the control inputs to the conventional helicopter-type control inputs. However, they fail to provide energy-efficient fast trajectory tracking, especially in the… Show more
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