Model predictive control of a tilt-rotor UAV for load transportation
Model predictive control of a tilt-rotor UAV for load transportation
复制标题
倾转旋翼无人机负载运输的模型预测控制
DOI：
10.1109/ecc.2016.7810612
复制
发表时间：
2016
期刊：
影响因子：
--
通讯作者：
J. Normey
中科院分区：
文献类型：
--
作者：
R. Andrade;G. Raffo;J. Normey
本文采用模型预测控制（MPC）方法解决倾转旋翼无人机带悬挂载荷时的航迹跟踪问题。MPC的设计基于系统的线性误差模型，该模型围绕通用轨迹线性化。通过优化问题计算控制动作，其中考虑输入和状态约束来求解成本函数。此外，MPC考虑终端成本以确保稳定性，从而允许预测范围减小。通过欧拉-拉格朗日方程建立了车辆的多体非线性动力学模型，假设车辆为4个刚体，10个自由度。数值仿真的目的是评估控制器考虑恒定干扰在不同的时刻，和建模误差。
In this paper a model predictive control (MPC) is used to solve the path tracking problem of a tilt-rotor unmanned aerial vehicle while it carries a suspended load. The MPC is designed based on the linear error model of the system, which is linearized around a generic trajectory. The control action is calculated via an optimization problem, where a cost function is solved taking into account input and state constraints. Furthermore, the MPC considers a terminal cost in order to ensure stability, allowing the prediction horizon reduction. The multibody non-linear dynamic model is obtained via Euler-Lagrange formulation, assuming four rigid bodies and ten degrees of freedom (DOF) of the vehicle. Numerical simulations are performed with the objective to evaluate the controller considering constant disturbances at different instants of time, and modeling errors.