Motor and Perception Constrained NMPC for Torque-Controlled Generic Aerial Vehicles.

Martin Jacquet Antonio Franchi

Published in: IEEE Robotics Autom. Lett. (2021)

Keyphrases

aerial vehicles
induction motor
brushless dc
direct drive
path planning

receding horizon
dynamic model
unmanned aerial vehicles
position control
nonlinear model predictive control

multiple targets
control algorithm
closed loop
fuzzy logic control

control system
control strategy
dynamic environments
computer vision