Nonlinear MPC with Motor Failure Identification and Recovery for Safe and Aggressive Multicopter Flight
Dimos Tzoumanikas,Qingyue Yan,Stefan Leutenegger,Dimos Tzoumanikas,Qingyue Yan,Stefan Leutenegger
Safe and precise reference tracking is a crucial characteristic of Micro Aerial Vehicles (MAVs) that have to operate under the influence of external disturbances in cluttered environments. In this paper, we present a Nonlinear Model Predictive Control (NMPC) that exploits the fully physics based non-linear dynamics of the system. We furthermore show how the moment and thrust control inputs can be ...
