Abstract
This paper presents the results of a model-based predictive control (MPC) design for a quadrotor aerial vehicle with a suspended load. Unlike previous works, the controller takes into account the hanging payload dynamics, the dynamics in three-dimensional space, and the vehicle rotation, achieving a good balance between fast stabilization times and small swing angles. The mathematical model is based on the Euler–Lagrange formulation and considers the dynamics of the vehicle, the cable, and the load. Then, the mathematical model is represented as an input-affine system to obtain the linear model for the control design. A constrained MPC strategy was designed and compared with an unconstrained MPC and an algorithm from the literature for the case of study. The constraints to be considered include the limits on the swing angles and the quadrotor position. The constrained control algorithm was constructed to stabilize the aerial vehicle. It aims to track a trajectory reference while attenuating the load swing, considering a maximum swing range of ±10∘. Numerical simulations were carried out to validate the control strategy.
Highlights
In recent years, the development of aerial robotics has been rapid via both scientific and commercial research, since the use of these autonomous systems is not restricted to the military field
Motivated by the previous works—where the authors dealt with the hanging payload transportation problem by (i) considering the payload as a disturbance; (ii) including the payload dynamics, but considering only a longitudinal translation of the unmanned aerial vehicles (UAVs); (iii) considering three-dimensional dynamics but neglecting the rotation of the vehicle; or (iv) reducing the payload swing by sacrificing performance—in this paper, we offer an alternative approach to stabilize a quadrotor transporting a payload by using a predictive control strategy
This work presents the formulation of a model-based predictive controller meant to solve the problem of transporting a payload suspended by a cable from a multi-rotor-type unmanned aerial vehicle
Summary
The development of aerial robotics has been rapid via both scientific and commercial research, since the use of these autonomous systems is not restricted to the military field. The load is closer to the vehicle’s center of gravity, which causes increases in weight and rotational inertia that affect the maneuverability of the vehicle in flight Another approach, which is widely used in transportation, consists of suspending the payload through a rope or cable connected directly to the vehicle’s structure, allowing fast and agile movements. Motivated by the previous works—where the authors dealt with the hanging payload transportation problem by (i) considering the payload as a disturbance; (ii) including the payload dynamics, but considering only a longitudinal translation of the UAV; (iii) considering three-dimensional dynamics but neglecting the rotation of the vehicle; or (iv) reducing the payload swing by sacrificing performance—in this paper, we offer an alternative approach to stabilize a quadrotor transporting a payload by using a predictive control strategy. Due to the many of variables used, the nomenclature is summarized in Appendix A
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