Tube-based MPC with nonlinear control for load transportation using a UAV

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dc.creatorMarcelo Alves dos Santos
dc.creatorAntonio Ferramosca
dc.creatorGuilherme Vianna Raffo
dc.date.accessioned2025-04-15T13:41:13Z
dc.date.accessioned2025-09-09T01:19:42Z
dc.date.available2025-04-15T13:41:13Z
dc.date.issued2018
dc.identifier.doihttps://doi.org/10.1016/j.ifacol.2018.11.180
dc.identifier.urihttps://hdl.handle.net/1843/81585
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartof9th IFAC Symposium on Robust Control Design (ROCOND 2018)
dc.rightsAcesso Restrito
dc.subjectAeronave não tripulada
dc.subjectTeoria do controle
dc.subject.otherUAV, Load transportation, Tube-based MPC, Nonlinear Control
dc.titleTube-based MPC with nonlinear control for load transportation using a UAV
dc.typeArtigo de evento
local.citation.epage655
local.citation.spage649
local.description.resumoThis 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.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://www.sciencedirect.com/science/article/pii/S2405896318328441

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