Switching Model Predictive Control for Online Structural Reformations of a Foldable Quadrotor
This work addresses the challenge of adaptive aerial robotics for applications requiring environmental adaptation, though it appears incremental as it builds on existing control methods for a specific domain.
The paper tackles the problem of controlling a foldable quadrotor during online structural changes by developing a switching model predictive control framework, with simulation results demonstrating its efficacy in maintaining control quality.
The aim of this article is the formulation of a switching model predictive control framework for the case of a foldable quadrotor with the ability to retain the overall control quality during online structural reformations. The majority of the related scientific publications consider fixed morphology of the aerial vehicles. Recent advances in mechatronics have brought novel considerations for generalized aerial robotic designs with the ability to alter their morphology in order to adapt to their environment, thus enhancing their capabilities. Simulation results are provided to prove the efficacy of the selected control scheme.