IFAC 2019: Efficient networked UAV control using event-triggered predictive control

In this paper, we propose a method to improve the networked UAV control system using event-triggered control and model predictive control (MPC). Although the UAV control over the network has many advantages, it involves a long-time delay and packet loss, which adversely affects real-time control performance. Delay compensation algorithms in the networked control system (NCS) have been proposed to address such issues, however, they do not consider the resource limit of the network and congesti...

ICRA 2019: Networked operation of a UAV using Gaussian process-based delay compensation and model predictive control

This study addresses an operation of unmanned aerial vehicles (UAVs) in a network environment where there is time-varying network delay. The network delay entails undesirable effects on the stability of the UAV control system due to delayed state feedback and outdated control input. Although several networked control algorithms have been proposed to deal with the network delay, most existing studies have assumed that the plant dynamics is known and simple, or the network delay is constant. Th...

ICCAS 2018: Tracking Control of a Multirotor UAV in a Network Environment with Time-Varying Delay

This paper presents a practical method to estimate and control the position of an unmanned aerial vehicle (UAV) considering a network environment with time-varying delay between a server and the UAV. The network delay entails undesirable effects to the stability of the UAV control system due to mismatch of trajectory and incorrect state observation. To deal with these problems, we propose the algorithm which consists of 1) path planner, 2) uplink delay compensator, 3) UAV controller, and 4) d...