Journal
ASIAN JOURNAL OF CONTROL
Volume 16, Issue 5, Pages 1403-1415Publisher
WILEY
DOI: 10.1002/asjc.830
Keywords
Quad-rotor; radial basis function (RBF) networks; state-dependent autoregressive with exogenous (SD-ARX) model; nonlinear system; predictive control
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Funding
- National Natural Science Foundation of China [71271215, 71221061]
- International Science & Technology Cooperation Program of China [2011DFA10440]
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A state-dependent autoregressive with exogenous variables (SD-ARX) model whose functional coefficients are approximated by sets of radial basis function (RBF) networks is proposed to describe the dynamic behavior of a quad-rotor in this paper. This model is identified offline and used as an internal predictor of a receding horizon predictive controller to address the quad-rotor's attitude control issue. In addition, the physical constraints of the system have been also taken into account during the controller design process. The results of real-time control on a quad-rotor aircraft illustrate satisfactory modeling accuracy in a large operating range and good performance of control approach proposed in this paper.
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