COMPLEX AERIAL FLIGHT UTILIZING MODEL PREDICTIVE CONTROL
Padghan, Pranjali S
Master of Science
Date of Defense:
June 26, 2018
Alan Richard Wagner, Thesis Advisor/Co-Advisor
Model Predictive Control Quadcopter Dynamics and control
In this dissertation a quadcopter model is developed and Model Predictive Control techniques are implemented for trajectory tracking and obstacle avoidance. The major application that has been presented in this thesis is choreographed moves for a swarm of quadcopters. First a nonlinear model of the quadcopter is derived from the Newton-Euler’s equations and linearized into state space form. This model was then further used for implementing Model Predictive Control algorithm for the purpose of trajectory tracking.
The thesis concludes with an investigation of multi-vehicle obstacle avoidance. Model Predictive Control takes account of the obstacles as constraints as a part of an optimization process. To deal with the obstacles MOANTOOL has been used which serves as an environment for formulating Model Predictive Control problems while also avoiding obstacles. Matlab simulations demonstrates the system.