Tube-based MPC with nonlinear control for load transportation using a UAV
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Universidade Federal de Minas Gerais
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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.
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Aeronave não tripulada, Teoria do controle
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UAV, Load transportation, Tube-based MPC, Nonlinear Control
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https://www.sciencedirect.com/science/article/pii/S2405896318328441