Estimation of Unmodeled Dynamics: Nonlinear MPC and Adaptive Control Law With Momentum Observer Dynamic

Estimation of Unmodeled Dynamics: Nonlinear MPC and Adaptive Control Law With Momentum Observer Dynamic

This article proposes an enhancement to estimate unmodeled dynamics within the simplified dynamic model of a quadcopter by integrating three key methodologies: Nonlinear Model Predictive Control (NMPC), a Momentum Observer Dynamics (MOD), and an adaptive control law. Termed as Adaptive NMPC with MOD...

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Bibliographic Details
Main Author: Guevara, Bryan (author)
Other Authors: Recalde, Luis (author), Moya, Viviana (author), Varela-Aldas, Jose (author), Gandolfo, Daniel (author), Toibero, Juan (author)
Format: article
Language:eng
Published: 2024
Online Access:https://ieeexplore.ieee.org/document/10542329
https://hdl.handle.net/20.500.14809/6982
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https://ieeexplore.ieee.org/document/10542329
https://hdl.handle.net/20.500.14809/6982

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