Trajectory Tracking Nonlinear Model Predictive Control for an Overactuated MAV
Maximilian Brunner,Karen Bodie,Mina Kamel,Michael Pantic,Weixuan Zhang,Juan Nieto,Roland Siegwart,Maximilian Brunner,Karen Bodie,Mina Kamel,Michael Pantic,Weixuan Zhang,Juan Nieto,Roland Siegwart
This work presents a method to control omnidirectional micro aerial vehicles (OMAVs) for the tracking of 6-DoF trajectories in free space. A rigid body model based approach is applied in a receding horizon fashion to generate optimal wrench commands that can be constrained to meet limits given by the mechanical design and actuators of the platform. Allocation of optimal actuator commands is perfor...
