Paper Info
Title
Online Nonlinear Model Predictive Control For Tethered Uavs To Perform A Safe And Constrained Maneuver
Abstract
This paper focuses on the design and implementation of a two layer hierarchical controller for a tethered aerial vehicle. In particular, a challenging problem of smoothly landing on a inclined plane is considered. Such problem yields nonlinear control objective and constraints which require advanced control techniques like Nonlinear Model Predictive Control (NMPC), that is known to be computationally demanding. A control architecture composed by two layers is proposed: an NMPC operating at 100Hz is employed to generate feasible trajectories on-line and a simplified local controller, working at 500Hz, is used to track them. The effectiveness of this hierarchical control structure is demonstrated by a closed-loop simulation. Moreover, the rejection of external disturbances, such as the wind, is a peculiar characteristic of the proposed control strategy.
Year
DOI
Venue
2019
10.23919/ECC.2019.8796032
2019 18TH EUROPEAN CONTROL CONFERENCE (ECC)
Field
DocType
Citations 
Control theory,Computer science,Nonlinear control,Control theory,Model predictive control,Inclined plane,Nonlinear model
Conference
0
PageRank 
References 
Authors
0.34
0
5
Name
Order
Citations
PageRank
Enrica Rossi100.68
Mattia Bruschetta2166.58
Ruggero Carli389469.17
Yutao Chen400.68
Marcello Farina533536.83