Switching Model Predictive Control for Online Structural Reformations of a Foldable Quadrotor

TL;DR

This paper presents a switching model predictive control framework for a foldable quadrotor that can change its structure online, maintaining control quality during reconfigurations, demonstrated through simulation results.

Contribution

It introduces a novel control scheme enabling online structural reformation of a foldable quadrotor, addressing a gap in existing fixed-morphology aerial vehicle control methods.

Findings

Control scheme maintains stability during reconfiguration

Simulation confirms effectiveness of the control approach

Enhances adaptability of aerial robots

Abstract

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.