Publication
Nonlinear model predictive control for aerial manipulation
Conference Article
Conference
International Conference on Unmanned Aircraft Systems (ICUAS)
Edition
2017
Pages
87-93
Doc link
https://doi.org/10.1109/ICUAS.2017.7991347
File
Authors
-
Lunni, Dario
-
Santamaria Navarro, Angel
-
Rossi, Roberto
-
Rocco, Paolo
-
Bascetta, Luca
-
Andrade Cetto, Juan
Projects associated
Abstract
This paper presents a nonlinear model predictive controller to follow desired 3D trajectories with the end effector of an unmanned aerial manipulator (i.e., a multirotor with a serial arm attached). To the knowledge of the authors, this is the first time that such controller runs online and on board a limited computational unit to drive a kinematically augmented aerial vehicle. Besides the trajectory following target, we explore the possibility of accomplishing other tasks during flight by taking advantage of the system redundancy. We define several tasks designed for aerial manipulators and show in simulation case studies how they can be achieved by either a weighting strategy, within a main optimization process, or a hierarchical approach consisting on nested optimizations. Moreover, experiments are presented to demonstrate the performance of such controller in a real robot.
Categories
aerospace robotics, predictive control.
Author keywords
nmpc
Scientific reference
D. Lunni, A. Santamaria-Navarro, R. Rossi, P. Rocco, L. Bascetta and J. Andrade-Cetto. Nonlinear model predictive control for aerial manipulation, 2017 International Conference on Unmanned Aircraft Systems, 2017, Miami, pp. 87-93.
Follow us!