@article{CAO2022, 
author = {Rui CAO and Huiwen WAN and Zhen HE and Yuping LU},
title = {Multiple model predictive control of perching maneuver based on guardian maps},
year = {2022},
journal = {Chinese Journal of Aeronautics},
volume = {35},
number = {5},
pages = {347-360},
keywords = {Guardian maps, Model predictive control, Multi-Model switching rule, Online comprehensive design, Perching maneuver},
url = {https://www.sciopen.com/article/10.1016/j.cja.2021.03.008},
doi = {10.1016/j.cja.2021.03.008},
abstract = {Considering the strong nonlinearity of Unmanned Aerial Vehicles (UAVs) resulting from high Angle of Attack (AOA) and fast maneuvering, we present a multi-model predictive control strategy for UAV maneuvering, which has a small amount of online calculation. Firstly, we divide the maneuver envelope of UAV into several sub-regions on the basis of the gap metric theory. A novel algorithm is then developed to determine the ploytopic model for each sub-region. According to this, a Robust Model Predictive Control based on the Idea of Comprehensive optimization (ICE-RMPC) is proposed. The control law is designed offline and optimized online to reduce the computational expense. Then, the ICE-RMPC method is applied to design the controllers of sub-regions. In addition, to guarantee the stability of whole closed-loop system, a multi-model switching control strategy based on guardian maps is put forward. Finally, the tracking performance of proposed control strategy is demonstrated by an illustrative example.}
}