Control Design for a multi-rotor VTOL enhanced by a Gradient Descent algorithm to optimize the position tracking

Tolentino J.A. · 2022 IEEE/SICE International Symposium on System Integration, SII 2022 (2022) · DOI: 10.1109/sii52469.2022.9708830

Resumen

In this paper, a Feedback Control and a Model Predictive Control for a miniaturized multi-rotor vertical takeoff landing aircraft has been designed to track a desired path. This latter approach is optimized by means of a Machine learning algorithm embedded on the feedback controller, and can provide a set of fitted gains that enhance the position tracking under disturbances. The disturbances can occur either by effect of wind along the aircraft's surfaces or when there is a reduction of waypoints, meaning there is a greater distance between reference points.