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- W2037832014 abstract "This paper presents a predictive and nonlinear robust control strategy to solve the path tracking problem for a quadrotor helicopter. The dynamic motion equations are obtained by the Lagrange-Euler formalism. The control structure is performed through a model-based predictive controller (MPC) to track the reference trajectory and a nonlinear ℋ∞ controller to stabilize the rotational movements. Simulations results in presence of aerodynamic disturbances and parametric uncertainty are presented to corroborate the effectiveness and the robustness of the proposed strategy." @default.
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- W2037832014 date "2008-01-01" @default.
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- W2037832014 title "MPC with Nonlinear ℋ∞ Control for Path Tracking of a Quad-Rotor Helicopter" @default.
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- W2037832014 doi "https://doi.org/10.3182/20080706-5-kr-1001.01448" @default.
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