Autonomous landing of an UAV on a moving platform using model predictive control

Jose A. Maces-Hernandez, Francois Defay, Corentin Chauffaut
2017 2017 11th Asian Control Conference (ASCC)  
This paper proposes a linear Model Predictive Control (MPC) for high-accuracy tracking of a mobile robotic platform, in an indoor environment. The mission is divided into three main phases: target detection, target tracking and autonomous lading. These phases were coded into a so-called guidance function, which allows the system to safely switch between different reference signals according to the state of the mission. In order to ease the control loop implementation in the experimental
more » ... xperimental framework available at the facilities of ISAE Supaero, some existing optimisation tools were employed. In addition, some simulations and real tests were carried out to demonstrate the performance of the controller against other control techniques developed for the same experimental system.
doi:10.1109/ascc.2017.8287533 dblp:conf/ascc/Maces-Hernandez17 fatcat:svmjphz32vf4dkvoecnj3szuky