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

10 Citations (Scopus)


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
Number of pages6
ISBN (Electronic)978-3-907144-00-8
Publication statusPublished - 1 Jun 2019
Event18th European Control Conference, ECC 2019 - Naples, Italy, Naples, Italy
Duration: 25 Jun 201928 Jun 2019
Conference number: 18


Conference18th European Control Conference, ECC 2019
Abbreviated titleECC 2019
Other18th European Control Conference (ECC 2019) (in cooperation with IFAC)
Internet address


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