Online nonlinear model predictive control for tethered uavs to perform a safe and constrained maneuver

Enrica Rossi, Mattia Bruschetta, Ruggero Carli, Yutao Chen, Marcello Farina

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

3 Citations (Scopus)

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.

Original languageEnglish
Title of host publication2019 18th European Control Conference, ECC 2019
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages3996-4001
Number of pages6
ISBN (Electronic)978-3-907144-00-8
DOIs
Publication statusPublished - 1 Jun 2019
Event18th European Control Conference, ECC 2019 - Naples, Italy
Duration: 25 Jun 201928 Jun 2019

Conference

Conference18th European Control Conference, ECC 2019
CountryItaly
CityNaples
Period25/06/1928/06/19

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