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The regulation of a quadrotor UAV carrying a pendulum using receding horizon control

This paper proposes an approach for regulating the stability of an inverted pendulum that is attached on top of a moving quadrotor UAV. The approach is based on the receding horizon control scheme whose objective is to stabilize the pendulum in a vertical position while the quadrotor UAV is moving from predetermined initial to final poses. More specifically, the approach formulates a parametric quadratic optimization of the simultaneous stabilization of both the inverted pendulum and the quadrotor UAV. Simulation results are presented to demonstrate the successful implementation of the proposed method.

Ketersediaan

Informasi Detail

Judul Seri

No. Panggil

-

Penerbit

: IEEE., 2020

Deskripsi Fisik

p. 63-67

Bahasa

English

ISBN/ISSN

978-1-7281-1097-4

Klasifikasi

NONE

Tipe Isi

-

Tipe Media

-

Tipe Pembawa

-

Edisi

-

Subjek

QUADROTOR UAV
FLYING INVERTED PENDULUM
CONSTRAINED PARAMETRIC PROGRAMMING
RECEDING HORIZON CONTROL

Info Detail Spesifik

Makalah dipresentasikan pada Proceedings of 2020 12th International Conference on Information Technology and Electrical Engineering (ICITEE); Yogyakarta, 6-8 October 2020.

Pernyataan Tanggungjawab

Tua A. Tamba, Yul Y. Nazaruddin, Endang Juliastuti

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