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

doi:10.23919/ECC.2019.8796032

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 proceeding › Conference contribution › Academic › peer-review

6 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 language	English
Title of host publication	2019 18th European Control Conference, ECC 2019
Place of Publication	Piscataway
Publisher	Institute of Electrical and Electronics Engineers
Pages	3996-4001
Number of pages	6
ISBN (Electronic)	978-3-907144-00-8
DOIs	https://doi.org/10.23919/ECC.2019.8796032
Publication status	Published - 1 Jun 2019
Event	18th European Control Conference, ECC 2019 - Naples, Italy, Naples, Italy Duration: 25 Jun 2019 → 28 Jun 2019 Conference number: 18 https://www.ifac-control.org/events/european-control-conference-in-cooperation-with-ifac-ecc-2019

Conference

Conference	18th European Control Conference, ECC 2019
Abbreviated title	ECC 2019
Country/Territory	Italy
City	Naples
Period	25/06/19 → 28/06/19
Other	18th European Control Conference (ECC 2019) (in cooperation with IFAC)
Internet address	https://www.ifac-control.org/events/european-control-conference-in-cooperation-with-ifac-ecc-2019

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10.23919/ECC.2019.8796032

Cite this

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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.",

author = "Enrica Rossi and Mattia Bruschetta and Ruggero Carli and Yutao Chen and Marcello Farina",

year = "2019",

month = jun,

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doi = "10.23919/ECC.2019.8796032",

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booktitle = "2019 18th European Control Conference, ECC 2019",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

note = "18th European Control Conference, ECC 2019, ECC 2019 ; Conference date: 25-06-2019 Through 28-06-2019",

url = "https://www.ifac-control.org/events/european-control-conference-in-cooperation-with-ifac-ecc-2019",

}

Rossi, E, Bruschetta, M, Carli, R, Chen, Y & Farina, M 2019, Online nonlinear model predictive control for tethered uavs to perform a safe and constrained maneuver. in 2019 18th European Control Conference, ECC 2019., 8796032, Institute of Electrical and Electronics Engineers, Piscataway, pp. 3996-4001, 18th European Control Conference, ECC 2019, Naples, Italy, 25/06/19. https://doi.org/10.23919/ECC.2019.8796032

Online nonlinear model predictive control for tethered uavs to perform a safe and constrained maneuver. / Rossi, Enrica; Bruschetta, Mattia; Carli, Ruggero et al.
2019 18th European Control Conference, ECC 2019. Piscataway: Institute of Electrical and Electronics Engineers, 2019. p. 3996-4001 8796032.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Online nonlinear model predictive control for tethered uavs to perform a safe and constrained maneuver

AU - Rossi, Enrica

AU - Bruschetta, Mattia

AU - Carli, Ruggero

AU - Chen, Yutao

AU - Farina, Marcello

N1 - Conference code: 18

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N2 - 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.

AB - 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.

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M3 - Conference contribution

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BT - 2019 18th European Control Conference, ECC 2019

PB - Institute of Electrical and Electronics Engineers

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T2 - 18th European Control Conference, ECC 2019

Y2 - 25 June 2019 through 28 June 2019

ER -

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

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