Tube-based MPC with Nonlinear Control for Load Transportation using a UAV
Contributo in Atti di convegno
Data di Pubblicazione:
2018
Citazione:
(2018). Tube-based MPC with Nonlinear Control for Load Transportation using a UAV . Retrieved from http://hdl.handle.net/10446/169394
Abstract:
This paper presents a two-stage cascade control framework to solve hierarchically the trajectory tracking problem of a Tilt-rotor Unmanned Aerial Vehicle (UAV) carrying a suspended load. Initially, a nonlinear dynamic model is presented, which is after decoupled into two subsystems. The outer control system is designed by means of a robust tube-based Model Predictive Control (MPC) strategy, which is used to control the UAV’s planar motion and stabilize the suspended load. For the inner control system, the input-output feedback linearization (IOFL) technique combined with the dynamic extension approach and a discrete mixed H2/H∞ controller is considered to control the UAV’s altitude and attitude. Simulations results are carried out to corroborate the proposed control strategy.
Tipologia CRIS:
1.4.01 Contributi in atti di convegno - Conference presentations
Elenco autori:
Santos, Marcelo; Ferramosca, Antonio; Raffo, Guilherme V.
Link alla scheda completa:
Titolo del libro:
9th IFAC Symposium on Robust Control Design ROCOND 2018, Florianópolis, Brazil, 3–5 September 2018. Proceedings
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