Nonlinear Model Predictive Control for a multi-rotor with heavy slung load
Trachte, Jan, Gonzalez, Felipe, & Mcfadyen, Aaron (2014) Nonlinear Model Predictive Control for a multi-rotor with heavy slung load. In Proceedings of the 2014 International Conference on Unmanned Aircraft Systems (ICUAS), IEEE, Orlando, Florida, The United States of America, pp. 1105-1110.
In this paper a novel controller for stable and precise operation of multi-rotors with heavy slung loads is introduced. First, simplified equations of motions for the multi-rotor and slung load are derived. The model is then used to design a Nonlinear Model Predictive Controller (NMPC) that can manage the highly nonlinear dynamics whilst accounting for system constraints. The controller is shown to simultaneously track specified waypoints whilst actively damping large slung load oscillations. A Linear-quadratic regulator (LQR) controller is also derived, and control performance is compared in simulation. Results show the improved performance of the Nonlinear Model Predictive Control (NMPC) controller over a larger flight envelope, including aggressive maneuvers and large slung load displacements. Computational cost remains relatively small, amenable to practical implementation. Such systems for small Unmanned Aerial Vehicles (UAVs) may provide significant benefit to several applications in agriculture, law enforcement and construction.
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|Item Type:||Conference Paper|
|Keywords:||Damping, Equations, Force, Load modeling, Mathematical model, Predictive control, Predictive models|
|Divisions:||Current > Research Centres > Australian Research Centre for Aerospace Automation
Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2014 IEEE|
|Deposited On:||24 Jul 2014 22:53|
|Last Modified:||28 Jul 2014 00:31|
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