Lyapunov-based Nonlinear Model Predictive Control for Attitude Trajectory Tracking of Unmanned Aerial Vehicles.
Duy Nam BuiThi Thanh Van NguyenManh Duong PhungPublished in: CoRR (2022)
Keyphrases
- unmanned aerial vehicles
- trajectory tracking
- nonlinear model predictive control
- control law
- image based visual servoing
- visual servoing
- control algorithm
- dynamic model
- control scheme
- closed loop
- control theory
- path planning
- nonlinear systems
- adaptive control
- control system
- control strategy
- control method
- motion planning
- sliding mode
- adaptive fuzzy
- mobile robot
- lyapunov function
- dynamic environments
- tracking error
- predictive control
- computationally efficient
- experimental data
- fuzzy controller
- stability analysis
- optimal control
- dynamical systems
- variable structure
- pid controller
- linear model
- real time
- feed forward
- sliding mode control
- camera motion
- decision makers
- artificial neural networks
- machine learning