Real-time tube MPC applied to a 10-state quadrotor model

Authors

H. Hu, X. Feng, R. Quirynen, M.E. Villanueva, B. Houska

Reference

In Proceedings of the
American Control Conference,
pages 3135 - 3140, Milwaukee, USA, June, 2018.

Abstract

This paper discusses a real-time implementation of tube model predictive controllers for nonlinear input-affine systems. This is achieved by combining recent theoretical and practical advances on the construction of forward invariant tubes with state-of-the-art algorithms for nonlinear MPC, such as the real-time iteration scheme. The focus of the paper is on presenting these ideas in a tutorial style, using a 10-state quadcopter model as an example. The controller is implemented using the automatic code generation capabilities of ACADO Toolkit. Numerical experiments show that the tube MPC scheme can achieve run-times in the lower millisecond range.

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Bibtex

@INPROCEEDINGS{Hu2018,
author = {H. Hu and X. Feng and R. Quirynen and M.E. Villanueva and B. Houska},
title = {Real-time tube MPC applied to a 10-state quadrotor model},
booktitle = {In Proceedings of the American Control Conference, Milwaukee, USA},
year = {2018},
pages = {3135–3140},
}