Tube-based MPC with Nonlinear Control for Load Transportation using a UAV
Sign Up to like & getrecommendations! Published in 2018 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2018.11.180
Abstract: Abstract This paper presents a two-stage cascade control framework to solve hierarchically the trajectory tracking problem of a Tilt-rotor Unmanned Aerial Vehicle (UAV) carrying a suspended load. Initially, a nonlinear dynamic model is presented, which… read more here.
Keywords: mpc nonlinear; based mpc; control; nonlinear control ... See more keywords
Koopman-Based MPC With Learned Dynamics: Hierarchical Neural Network Approach.
Sign Up to like & getrecommendations! Published in 2022 at "IEEE transactions on neural networks and learning systems"
DOI: 10.1109/tnnls.2022.3194958
Abstract: This article presents a data-driven control strategy for nonlinear dynamical systems, enabling the construction of a Koopman-based linear system associated with nonlinear dynamics. The primary idea is to apply the deep learning technique to the… read more here.
Keywords: koopman; koopman based; control; based mpc ... See more keywords