Non-linear model predictive control for UAVs with slung/swung load
Gonzalez, Felipe, Heckmann, Alexander, Notter, Stefan, Zürn, Markus, Trachte, Jan, & McFadyen, Aaron (2015) Non-linear model predictive control for UAVs with slung/swung load. In International Conference on Robotics and Automation (ICRA 2015), 26-30 May 2015, Washington State Convention & Trade Center (WSCC), Seattle, Washington, USA.
Suspended loads on UAVs can provide significant benefits to several applications in agriculture, law enforcement and construction. The load impact on the underlying system dynamics should not be neglected as significant feedback forces may be induced on the vehicle during certain flight manoeuvres. Much research has focused on standard multi-rotor position and attitude control with and without a slung load. However, predictive control schemes, such as Nonlinear Model Predictive Control (NMPC), have not yet been fully explored. To this end, we present software and flight system architecture to test controller for safe and precise operation of multi-rotors with heavy slung load in three dimensions.
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|Item Type:||Conference Paper|
|Keywords:||Non-Linear Model Predictive Control, UAV, Slung/Swung Load, suspended load, agriculture|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100) > Aircraft Performance and Flight Control Systems (090104)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
|Divisions:||Current > Research Centres > Australian Research Centre for Aerospace Automation
Current > Schools > School of Electrical Engineering & Computer Science
Current > Institutes > Institute for Future Environments
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2015 [Please consult the author]|
|Deposited On:||26 Jun 2015 02:59|
|Last Modified:||12 Jan 2016 11:00|
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