Nonlinear model predictive control for hexacopter with failed rotors based on quaternions —simulations and hardware experiments—

Yusuke AOKI; Yuta ASANO; Akihiko HONDA; Norizumi MOTOOKA; Kenta HOSHINO; Toshiyuki OHTSUKA

Journal ArticleOPEN ACCESS

Nonlinear model predictive control for hexacopter with failed rotors based on quaternions —simulations and hardware experiments—

AOKI Y
ASANO Y
HONDA A
et al.

Mechanical Engineering Journal (2021) 8(5) 21-00204-21-00204

DOI: 10.1299/mej.21-00204

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Abstract

… -time nonlinear model predictive control (NMPC) to fault-tolerant control problems of an unmanned aerial vehicle (UAV) with failed rotors. In the control problem, a hexacopter with up to …

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APA

AOKI, Y., ASANO, Y., HONDA, A., MOTOOKA, N., HOSHINO, K., & OHTSUKA, T. (2021). Nonlinear model predictive control for hexacopter with failed rotors based on quaternions —simulations and hardware experiments—. Mechanical Engineering Journal, 8(5), 21-00204-21–00204. https://doi.org/10.1299/mej.21-00204

Nonlinear model predictive control for hexacopter with failed rotors based on quaternions —simulations and hardware experiments—

Abstract

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