Path tracking model predictive control of a tilt-rotor UAV carrying a suspended load
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Universidade Federal de Minas Gerais
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This paper proposes a constrained Model Predictive Controller (MPC) to solve the path tracking problem of a Tilt-rotor UAV carrying a suspended load. Initially, a nonlinear model for the multi-body system is obtained via Euler-Lagrange formulation. Then, to design the constrained linear MPC, the equations of motion of the Tilt-rotor UAV with suspended load are linearized around the reference trajectory. Furthermore, to achieve null steady state error throughout the trajectory in presence of constant external disturbances and parametric uncertainties, the state vector is augmented with the integral action of some selected states. In addition, since the system is underactuated, the prediction model is also formulated in the incremental form to cope with disturbances affecting the system. Simulation results are carried out to corroborate the good performance of the proposed MPC when performing path tracking of the UAV with reduced load's swing.
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Computação, Mobilidade urbana, Transporte urbano, Modelos matemáticos
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Predictive Control, Model Predictive Control, Path Tracking, Suspended Load, State-space Model, Simulation Results, Nonlinear Model, Parameter Uncertainty, External Disturbances, Integration Of Activities, Presence Of Uncertainty, Presence Of Disturbances, Reference Trajectory, Steady-state Error, Multibody System, Presence Of External Disturbances, Constant Disturbance, Incremental Form, Constant Uncertainty, Linear Model, Degrees Of Freedom, Force Vector, Tilt Angle, Inertial Frame, Lift Force, Control Input, Optimization Problem, Control Signal, Control Horizon
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https://ieeexplore.ieee.org/document/7795749