Designing a hierarchical model-predictive controller for tracking an unknown ground moving target using a 6-DOF quad-rot
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Designing a hierarchical model-predictive controller for tracking an unknown ground moving target using a 6-DOF quad-rotor Saeed Khankalantary1 · Pouya Badri2 · Hassan Mohammadkhani3 Received: 18 June 2020 / Revised: 24 September 2020 / Accepted: 27 September 2020 © Springer-Verlag GmbH Germany, part of Springer Nature 2020
Abstract In this paper, a hierarchical predictive controller is designed in order to solve the tracking problem of a moving ground target by a quad-rotor in an unknown and uneven environment. This controller has internal and external predictive controller levels. In the lower layer of the controller, a constrained predictive controller is designed that is capable of rejecting perturbations and quickly tracking the reference path, and in the outer loop, a model predictive controller is designed to optimally detect the moving ground target where, the sub-cost functions were defined so that the quad-rotor would be able to track the moving ground target even if it was temporarily out of sight of the flying robot, as well as in the event of sudden direction changes and uneven path. In this method, since there is no need to switch between different controllers and not having to engage in delusional maneuvers of the target, the total control effort is reduced, which was shown in the simulations by the indifference reactions and shortening of the path of the quad-rotor. Finally, the tracking problem is simulated in the MATLAB to show the effectiveness of the proposed controllers, and the results are compared with that of a benchmark controller. Keywords Target tracking · Quad-rotor · Optimization · Model predictive control · Hierarchical control
1 Introduction The flying equipment is generally divided into two major categories: manned and unmanned. Unmanned aerial vehicles are commonly used in applications where manned aerial vehicles are not capable of, or are not economically viable, or have significant risks [1, 2]. Quad-rotor is an unmanned aerial vehicle with six degrees of freedom that can fly vertically and perform complex maneuvers. Features include load-carrying capacity, simplicity of structure, high maneuverability, low mobility constraints, low maintenance cost. Load capacity, simplicity of structure, high maneuverability, low mobility constraints, low maintenance cost are among quad-rotor features. Potential uses of this device include border inspection, missions of detection, photography, search
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Pouya Badri [email protected]
1
Department of Electrical and Computer Engineering, Isfahan University of Technology, Isfahan, Iran
2
Department of Electrical and Computer Engineering, Tarbiat Modares University, Tehran, Iran
3
Department of Aerospace Engineering, Sharif University of Technology, Tehran, Iran
operations, inspection and inspection of oil and high-pressure transmission lines, detection of fires, use in hazardous and inaccessible environments [3]. Recently, a great deal of research has been done on the control of quad-rotors, including references [4–8] that have been u
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