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Constrained generalized predictive control for obstacle avoidance in a quadcopter

  • José Luis Mendoza-Soto (a1), Luis Alvarez-Icaza (a2) and H. Rodríguez-Cortés (a3)

This work proposes a strategy for position control and obstacle avoidance in a quadcopter based on constrained generalized predictive control and geometric attitude control. The approach allows real-time trajectory tracking using optimal control actions and avoids collisions with static obstacles whose position is known. An experimental validation of the proposed controller is presented.

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  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
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