Data-Driven Control Strategies for Rotary Wing Aerial Vehicles

Simão Caeiro; Bruno J. Guerreiro; Rita Cunha

doi:10.1007/978-3-031-59167-9_6

Data-Driven Control Strategies for Rotary Wing Aerial Vehicles

Simão Caeiro, Bruno J. Guerreiro, Rita Cunha

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

To evaluate the performance of data-driven control methods applied to Unmanned Aerial Vehicles (UAVs), this work addresses the implementation of these strategies, particularly the Data-enabled Predictive Control (DeePC) algorithm. This strategy computes optimal controls for unknown systems through real-time output feedback using a receding horizon implementation. Moreover, this research investigates the influence of different hyperparameters on the DeePC’s performance and conducts a realistic comparison between this method and two model-based control approaches: Linear Quadratic Regulator (LQR) and Model Predictive Control (MPC). The simulation results validate the applicability of DeePC algorithm and highlight its superior robustness to system degradation and yaw calibration errors. However, it is less suitable for complex nonlinear systems subject to aggressive trajectories.

Original language	English
Title of host publication	Robot 2023
Subtitle of host publication	6th Iberian Robotics Conference Advances in Robotics, Volume 2
Editors	Lino Marques, Cristina Santos, José Luís Lima, Danilo Tardioli, Manuel Ferre
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	62-73
Number of pages	12
ISBN (Print)	9783031591662
DOIs	https://doi.org/10.1007/978-3-031-59167-9_6
Publication status	Published - 2024
Event	6th Iberian Robotics Conference, Robot 2023 - Coimbra, Portugal Duration: 22 Nov 2023 → 24 Nov 2023

Publication series

Name	Lecture Notes in Networks and Systems
Volume	978 LNNS
ISSN (Print)	2367-3370
ISSN (Electronic)	2367-3389

Conference

Conference	6th Iberian Robotics Conference, Robot 2023
Country/Territory	Portugal
City	Coimbra
Period	22/11/23 → 24/11/23

Keywords

Data-driven Control
Data-enabled Predictive Control
Performance Evaluation
Unmanned Aerial Vehicles

Access to Document

10.1007/978-3-031-59167-9_6

Cite this

Caeiro, S., Guerreiro, B. J., & Cunha, R. (2024). Data-Driven Control Strategies for Rotary Wing Aerial Vehicles. In L. Marques, C. Santos, J. L. Lima, D. Tardioli, & M. Ferre (Eds.), Robot 2023: 6th Iberian Robotics Conference Advances in Robotics, Volume 2 (pp. 62-73). (Lecture Notes in Networks and Systems; Vol. 978 LNNS). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-031-59167-9_6

Caeiro, Simão ; Guerreiro, Bruno J. ; Cunha, Rita. / Data-Driven Control Strategies for Rotary Wing Aerial Vehicles. Robot 2023: 6th Iberian Robotics Conference Advances in Robotics, Volume 2. editor / Lino Marques ; Cristina Santos ; José Luís Lima ; Danilo Tardioli ; Manuel Ferre. Springer Science and Business Media Deutschland GmbH, 2024. pp. 62-73 (Lecture Notes in Networks and Systems).

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Caeiro, S, Guerreiro, BJ & Cunha, R 2024, Data-Driven Control Strategies for Rotary Wing Aerial Vehicles. in L Marques, C Santos, JL Lima, D Tardioli & M Ferre (eds), Robot 2023: 6th Iberian Robotics Conference Advances in Robotics, Volume 2. Lecture Notes in Networks and Systems, vol. 978 LNNS, Springer Science and Business Media Deutschland GmbH, pp. 62-73, 6th Iberian Robotics Conference, Robot 2023, Coimbra, Portugal, 22/11/23. https://doi.org/10.1007/978-3-031-59167-9_6

Data-Driven Control Strategies for Rotary Wing Aerial Vehicles. / Caeiro, Simão; Guerreiro, Bruno J.; Cunha, Rita.
Robot 2023: 6th Iberian Robotics Conference Advances in Robotics, Volume 2. ed. / Lino Marques; Cristina Santos; José Luís Lima; Danilo Tardioli; Manuel Ferre. Springer Science and Business Media Deutschland GmbH, 2024. p. 62-73 (Lecture Notes in Networks and Systems; Vol. 978 LNNS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Caeiro S, Guerreiro BJ, Cunha R. Data-Driven Control Strategies for Rotary Wing Aerial Vehicles. In Marques L, Santos C, Lima JL, Tardioli D, Ferre M, editors, Robot 2023: 6th Iberian Robotics Conference Advances in Robotics, Volume 2. Springer Science and Business Media Deutschland GmbH. 2024. p. 62-73. (Lecture Notes in Networks and Systems). doi: 10.1007/978-3-031-59167-9_6