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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| Andre forfattere: | , , , , |
| Format: | article |
| Sprog: | eng |
| Udgivet: |
2024
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| Online adgang: | https://ieeexplore.ieee.org/document/10542329 https://hdl.handle.net/20.500.14809/6982 |
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