Model predictive control of a tilt-rotor UAV for load transportation

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dc.creatorRichard Andrade
dc.creatorGuilherme Vianna Raffo
dc.creatorJulio E. Normey-Rico
dc.date.accessioned2025-03-18T15:56:52Z
dc.date.accessioned2025-09-08T23:57:35Z
dc.date.available2025-03-18T15:56:52Z
dc.date.issued2016
dc.identifier.doi10.1109/ECC.2016.7810612
dc.identifier.issn2996-8895
dc.identifier.urihttps://hdl.handle.net/1843/80741
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofEuropean Control Conference (ECC)
dc.rightsAcesso Restrito
dc.subjectEngenharia elétrica
dc.subjectAeronave não tripulada
dc.subjectControle automático
dc.subjectTeoria do controle
dc.subject.otherUnmanned Aerial Vehicles
dc.subject.otherPredictive Control
dc.subject.otherModel Predictive Control
dc.subject.otherLoad Transport
dc.subject.otherCost Function
dc.subject.otherOptimization Problem
dc.subject.otherNonlinear Model
dc.subject.otherPrediction Horizon
dc.subject.otherInput Constraints
dc.subject.otherPath Tracking
dc.subject.otherSuspended Load
dc.subject.otherMultibody Model
dc.subject.otherThrust Force
dc.subject.otherInertial Frame
dc.subject.otherLinear Matrix Inequalities
dc.subject.otherEquations Of Motion
dc.titleModel predictive control of a tilt-rotor UAV for load transportation
dc.typeArtigo de evento
local.citation.epage2170
local.citation.spage2165
local.description.resumoIn 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.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/7810612

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