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

1 Citation (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.

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
StatePublished - 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

Fingerprint

Nonlinear Model Predictive Control
Model predictive control
maneuvers
Controller
Hierarchical Control
Nonlinear Control
Inclined
Rejection
Closed-loop
Control Strategy
Disturbance
Trajectory
Controllers
controllers
Simulation
Landing
landing
Trajectories
Antennas
rejection

Cite this

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 (pp. 3996-4001). [8796032] Piscataway: Institute of Electrical and Electronics Engineers. DOI: 10.23919/ECC.2019.8796032
Rossi, Enrica ; Bruschetta, Mattia ; Carli, Ruggero ; Chen, Yutao ; Farina, Marcello. / Online nonlinear model predictive control for tethered uavs to perform a safe and constrained maneuver. 2019 18th European Control Conference, ECC 2019. Piscataway : Institute of Electrical and Electronics Engineers, 2019. pp. 3996-4001
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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.",
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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. DOI: 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; Chen, Yutao; Farina, Marcello.

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 proceedingConference contributionAcademicpeer-review

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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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Rossi E, Bruschetta M, Carli R, Chen Y, Farina M. Online nonlinear model predictive control for tethered uavs to perform a safe and constrained maneuver. In 2019 18th European Control Conference, ECC 2019. Piscataway: Institute of Electrical and Electronics Engineers. 2019. p. 3996-4001. 8796032. Available from, DOI: 10.23919/ECC.2019.8796032