MPS: A New Method for Selecting the Stable Closed-Loop Equilibrium Attitude-Error Quaternion of a UAV During Flight
Francisco M. F. R. Gonçalves,Ryan M. Bena,Konstantin I. Matveev,Néstor O. Pérez-Arancibia,Francisco M. F. R. Gonçalves,Ryan M. Bena,Konstantin I. Matveev,Néstor O. Pérez-Arancibia
We present model predictive selection (MPS), a new method for selecting the stable closed-loop (CL) equilibrium attitude-error quaternion (AEQ) of an uncrewed aerial vehicle (UAV) during the execution of high-speed yaw maneuvers. In this approach, we minimize the cost of yawing measured with a performance figure of merit (PFM) that takes into account both the aerodynamic-torque control input and a...
