Model predictive control of a tilt-rotor UAV for load transportation
Carregando...
Data
Título da Revista
ISSN da Revista
Título de Volume
Editor
Universidade Federal de Minas Gerais
Descrição
Tipo
Artigo de evento
Título alternativo
Primeiro orientador
Membros da banca
Resumo
In this paper a model predictive control (MPC) is used to solve the path tracking problem of a tilt-rotor unmanned aerial vehicle while it carries a suspended load. The MPC is designed based on the linear error model of the system, which is linearized around a generic trajectory. The control action is calculated via an optimization problem, where a cost function is solved taking into account input and state constraints. Furthermore, the MPC considers a terminal cost in order to ensure stability, allowing the prediction horizon reduction. The multibody non-linear dynamic model is obtained via Euler-Lagrange formulation, assuming four rigid bodies and ten degrees of freedom (DOF) of the vehicle. Numerical simulations are performed with the objective to evaluate the controller considering constant disturbances at different instants of time, and modeling errors.
Abstract
Assunto
Engenharia elétrica, Aeronave não tripulada, Controle automático, Teoria do controle
Palavras-chave
Unmanned Aerial Vehicles, Predictive Control, Model Predictive Control, Load Transport, Cost Function, Optimization Problem, Nonlinear Model, Prediction Horizon, Input Constraints, Path Tracking, Suspended Load, Multibody Model, Thrust Force, Inertial Frame, Linear Matrix Inequalities, Equations Of Motion
Citação
Departamento
Curso
Endereço externo
https://ieeexplore.ieee.org/document/7810612