A Predictive Control Strategy for Aerial Payload Transportation with an Unmanned Aerial Vehicle

Norberto Urbina-Brito, María-Eusebia Guerrero-Sánchez, Guillermo Valencia-Palomo, Omar Hernández-González, Francisco-Ronay López-Estrada and José Antonio Hoyo-Montaño
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Norberto Urbina-Brito: Tecnológico Nacional de México-IT Hermosillo, Hermosillo, Ave. Tecnológico S/N, Hermosillo 83170, Mexico
María-Eusebia Guerrero-Sánchez: Cátedras Conacyt-Tecnológico Nacional de México-IT Hermosillo, Ave. Tec. S/N, Hermosillo 83170, Mexico
Guillermo Valencia-Palomo: Tecnológico Nacional de México-IT Hermosillo, Hermosillo, Ave. Tecnológico S/N, Hermosillo 83170, Mexico
Omar Hernández-González: Cátedras Conacyt-Tecnológico Nacional de México-IT Hermosillo, Ave. Tec. S/N, Hermosillo 83170, Mexico
Francisco-Ronay López-Estrada: TURIX-Dynamics Diagnosis and Control Group, Tecnológico Nacional de México-IT Tuxtla Gutiérrez, Carr. Panam. km 1080, A.P. 599, Tuxtla Gutierrez 29050, Mexico
José Antonio Hoyo-Montaño: Tecnológico Nacional de México-IT Hermosillo, Hermosillo, Ave. Tecnológico S/N, Hermosillo 83170, Mexico

Mathematics, 2021, vol. 9, issue 15, 1-15

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.

Keywords: unmanned aerial vehicle; predictive control; optimal control; suspended load; constraints (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2021
References: View complete reference list from CitEc
Citations: View citations in EconPapers (2)

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