@inproceedings{53ac57f8d3d94298b4c7fc486a063b66,
title = "Towards a Nonlinear Model Predictive Control using the Extended Modal Series Method",
abstract = "This paper addresses the Nonlinear Model Predictive Control of input-affine systems. Based on the Extended Modal Series Method, an explicit suboptimal control law is deduced that solves the two point boundary problem given by Pontryagin's Maximum Principle in the related Nonlinear Optimal Control Problem. The deduction of the control law is presented and proven. Then the proposed controller is tested in simulation in the attitude control of a quadrotor, a highly nonlinear and unstable system. The simulation results indicate good performance and near optimal behavior. This work is a background for future development of control techniques for input-affine systems.",
author = "Devia, \{Carlos Andres\} and Roa, \{Maria Camila\} and Julian Colorado and Patino, \{And Diego\}",
note = "Publisher Copyright: {\textcopyright} 2018 European Control Association (EUCA).; 16th European Control Conference, ECC 2018 ; Conference date: 12-06-2018 Through 15-06-2018",
year = "2018",
month = nov,
day = "27",
doi = "10.23919/ECC.2018.8550444",
language = "English",
series = "2018 European Control Conference, ECC 2018",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "679--684",
booktitle = "2018 European Control Conference, ECC 2018",
address = "United States",
}