06.2 - Flight Dynamics and Control (UAV related)
HYBRID MODELING APPROACH FOR OPTIMIZATION BASED CONTROL OF MULTIROTOR UNMANNED AERIAL VEHICLES
J. Novák ¹, J. Hanák¹, P. Chudý¹; ¹BUT, Czech Republic
Optimization based techniques such as Model Predictive Control (MPC) often rely on simplified governing equations of the system omitting complex interactions which are difficult to accurately model. This paper investigates a hybrid modeling approach based on Sparse Identification of Nonlinear Dynamics (SINDy) for local model improvement within the MPC framework.