Indoor experimental validation of MPC-based trajectory tracking for a quadcopter via a flat mapping approach.
Huu-Thinh DoIonela ProdanPublished in: CoRR (2023)
Keyphrases
- trajectory tracking
- closed loop
- dynamic model
- control law
- control system
- bi directional
- iterative learning control
- control scheme
- iterative learning
- feedback control
- physical constraints
- sliding mode
- wheeled mobile robots
- control method
- experimental data
- mathematical model
- state space
- variable structure
- artificial neural networks