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  • 标题:Tube-based MPC with Nonlinear Control for Load Transportation using a UAV
  • 本地全文:下载
  • 作者:Marcelo A. Santos ; Antonio Ferramosca ; Guilherme V. Raffo
  • 期刊名称:IFAC PapersOnLine
  • 印刷版ISSN:2405-8963
  • 出版年度:2018
  • 卷号:51
  • 期号:25
  • 页码:459-465
  • DOI:10.1016/j.ifacol.2018.11.180
  • 语种:English
  • 出版社:Elsevier
  • 摘要:AbstractThis 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.
  • 关键词:KeywordsUAVLoad transportationTube-based MPCNonlinear Control
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