折り畳み式クアッドロータのオンライン構造変形のための切替型モデル予測制御
Switching Model Predictive Control for Online Structural Reformations of a Foldable Quadrotor
飛行中に形状を変えられる折り畳み式クアッドロータに対し、変形時も制御品質を保つ切替型モデル予測制御を提案し、シミュレーションで有効性を示した論文。
著者: Andreas Papadimitriou, George Nikolakopoulos
分類: cs.RO
原文アブストラクト
The aim of this article is the formulation of a switching model predictive control framework for the case of a foldable quadrotor with the ability to retain the overall control quality during online structural reformations. The majority of the related scientific publications consider fixed morphology of the aerial vehicles. Recent advances in mechatronics have brought novel considerations for generalized aerial robotic designs with the ability to alter their morphology in order to adapt to their environment, thus enhancing their capabilities. Simulation results are provided to prove the efficacy of the selected control scheme.
