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