带挂载的四轴飞行器的MPCMPC for quadcopter with hanging load

上传者: xcltapestry | 上传时间: 2025-03-28 12:39:09 | 文件大小: 4.72MB | 文件类型: RAR
mpc
探讨了带有悬挂负载的四轴飞行器模型预测控制(MPC)方法。内容概要涉及MPC理论基础、四轴飞行器动力学建模、负载影响分析及MPC控制器设计。适用人群为无人机开发者、机器人工程师以及对先进控制技术感兴趣的学者。使用场景包括需要精确控制携带负载的无人机在复杂环境中的稳定飞行。目标是提高四轴飞行器携带负载时的飞行性能和稳定性。 关键词标签: 四轴飞行器 MPC 悬挂负载 动态控制

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( 84 个子文件 4.72MB ) 带挂载的四轴飞行器的MPCMPC for quadcopter with hanging load
a.txt 30B
E231A_QuadcopterMPC-master
main_sim.m 1.21KB
test_diff_flat.m 1.16KB
mpc_quadrotor_tracking.m 3.67KB
traj_gen
traj_gen_QRL_polyhedron.m 6.30KB
traj_gen_QR_polyhedron.m 3.83KB
traj_gen_QR_pointmass.m 2.91KB
trajectory.mat 7.62KB
@Quadrotor
discretizeLinearizeQuadrotor.m 727B
flat2state.m 1.62KB
Quadrotor.m 2.96KB
animateQuadrotor.m 4.27KB
traj_gen_QRL.mat 6.69KB
controllers
nathan
controller_dlqr_path.m 774B
controller_pd.m 400B
david
controller_dlqr.m 288B
ayush
controller.m 322B
plotQuadcopterPolyhedron.m 864B
papers
ICRA2013.pdf 788.13KB
symbolic
quadrotorDifferentialFlatnessSym.m 359B
quadrotorDynamicsSym.m 714B
quadrotorloadDynamicsSym.m 1016B
qrotorloadDynDervSym.m 284B
controller2.m 323B
docs
mpc-2d-quadrotor.pdf 164.32KB
abstract
abstract.log 16.38KB
abstract.tex 1.17KB
abstract.aux 8B
abstract.synctex.gz 3.86KB
abstract.pdf 34.29KB
images
quadrotorLoadSysVars.png 21.65KB
quadLoad.pdf 820.36KB
quadrotorSysVars.png 88.87KB
quadLoad.png 24.48KB
.gitmodules 93B
main_sim_qrotorload.m 4.48KB
@Quadrotorload
animateQuadrotorload.m 4.57KB
discretizeLinearizeQuadrotorload.m 731B
Quadrotorload.m 3.48KB
mpc_ayush
Untitled.m 3.46KB
bSpline2.m 2.01KB
traj_opt_ayush
quadLoadDynamics.m 105B
computeQuadPosition.m 154B
obstacle1.m 306B
pwPoly2.m 2.04KB
pwPoly3.m 2.39KB
superEllipse.m 956B
soln.mat 3.57KB
hermite_simpson_collocation.m 4.15KB
interpolateTraj.m 848B
addBounds.m 561B
mpc_quadrotorload_tracking.m 4.52KB
.gitignore 12B
results
Testcase_3_triangles
traj_png.png 27.86KB
traj.fig 131.57KB
workspace.mat 12.99KB
inputs.fig 22.90KB
states.fig 41.25KB
Testcase_2_inverted_pendulum
traj.fig 65.76KB
workspace.mat 5.25KB
inputs.fig 18.66KB
states.fig 27.40KB
DT_jumping_through_obstacle.fig 20.27KB
vid1.avi 12.80MB
QRL_traj.fig 88.02KB
traj_load_inverted_pendelum.mat 6.52KB
Testcase_1_keyhole_2m
traj_gen_specification_TC1.png 19.28KB
traj.fig 95.85KB
workspace.mat 9.50KB
inputs.fig 20.17KB
states.fig 33.95KB
Stats_vs_time_QRL_traj.fig 34.56KB
Inputs_vs_time_QRL_traj.fig 19.96KB
README.md 635B
gen
solve_cftoc.m 2.08KB
quadrotorloadLinearDynamics.m 1.34KB
quadrotorVectorFields.m 584B
quadrotorloadVectorFields.m 866B
even_sample.m 1.96KB
struct_overlay.m 2.21KB
quadrotorLinearDynamics.m 739B
static_disp.m 394B
generate_ref_trajectory.m 1.29KB
traj_gen_QR.mat 5.41KB
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