Path tracking model predictive control of a tilt-rotor UAV carrying a suspended load

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dc.creatorMarcelo A. Santos
dc.creatorGuilherme Vianna Raffo
dc.date.accessioned2025-03-24T13:21:20Z
dc.date.accessioned2025-09-08T23:07:00Z
dc.date.available2025-03-24T13:21:20Z
dc.date.issued2016
dc.identifier.doi10.1109/ITSC.2016.7795749
dc.identifier.issn2153-0009
dc.identifier.urihttps://hdl.handle.net/1843/80842
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.rightsAcesso Restrito
dc.subjectComputação
dc.subjectMobilidade urbana
dc.subjectTransporte urbano
dc.subjectModelos matemáticos
dc.subject.otherPredictive Control, Model Predictive Control, Path Tracking, Suspended Load, State-space Model
dc.subject.otherSimulation Results, Nonlinear Model, Parameter Uncertainty, External Disturbances
dc.subject.otherIntegration Of Activities, Presence Of Uncertainty, Presence Of Disturbances, Reference Trajectory
dc.subject.otherSteady-state Error, Multibody System, Presence Of External Disturbances, Constant Disturbance
dc.subject.otherIncremental Form, Constant Uncertainty, Linear Model, Degrees Of Freedom, Force Vector
dc.subject.otherTilt Angle, Inertial Frame, Lift Force, Control Input, Optimization Problem, Control Signal, Control Horizon
dc.titlePath tracking model predictive control of a tilt-rotor UAV carrying a suspended load
dc.typeArtigo de evento
local.citation.epage1463
local.citation.spage1458
local.description.resumoThis 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.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/7795749

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