Control predictivo y tolerancia a fallas de un cuadrirrotor

Jesús Cristian Velázquez-Carrasco; Josefina  Castañeda-Camacho; César Martinez-Torres

doi:10.29057/icbi.v12iEspecial2.12267

Jesús Cristian Velázquez-Carrasco Benemérita Universidad Autónoma de Puebla https://orcid.org/0009-0001-9885-3831
Josefina Castañeda-Camacho Benemérita Universidad Autónoma de Puebla https://orcid.org/0000-0002-4356-1698
César Martinez-Torres Universidad de las Américas Puebla https://orcid.org/0000-0003-3791-663X

DOI: https://doi.org/10.29057/icbi.v12iEspecial2.12267

Keywords: quadrotor, control, fault, predictive, trajectory

Abstract

The objective of this work is to couple a fault detection and reconfiguration control strategy based on flatness, in addition with a Lineal Model Predictive control for the automatic trajectory control of a quadrotor, where both controllers have the possibility of adapting and reconfigure in a possible failure event and guarantee the survival of the quadrotor.

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References

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