Aerial Robot Control in Close Proximity to Ceiling: A Force Estimation-based Nonlinear MPC

Basaran Bahadir Kocer; Mehmet Efe Tiryaki; Mahardhika Pratama; Tegoeh Tjahjowidodo; Gerald Gim Lee Seet

doi:10.1109/IROS40897.2019.8967611

Aerial Robot Control in Close Proximity to Ceiling: A Force Estimation-based Nonlinear MPC

Basaran Bahadir Kocer, Mehmet Efe Tiryaki, Mahardhika Pratama, Tegoeh Tjahjowidodo, Gerald Gim Lee Seet

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

21 Citations (Scopus)

Abstract

Being motivated by ceiling inspection applications via unmanned aerial vehicles (UAVs) which require close proximity flight to surfaces, a systematic control approach enabling safe and accurate close proximity flight is proposed in this work. There are two main challenges for close proximity flights: (i) the trust characteristics varies drastically for the different distance from the ceiling which results in a complex nonlinear dynamics; (ii) the system needs to consider physical and environmental constraints to safely fly in close proximity. To address these challenges, a novel framework consisting of a constrained optimization-based force estimation and an optimization-based nonlinear controller is proposed. Experimental results illustrate that the performance of the proposed control approach can stabilize UAV down to 1 cm distance to the ceiling. Furthermore, we report that the UAV consumes up to 12.5% less power when it is operated 1 cm distance to ceiling, which is promising potential for more battery-efficient inspection flights.

Original language	English
Title of host publication	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	2813-2819
Number of pages	7
ISBN (Electronic)	9781728140049
DOIs	https://doi.org/10.1109/IROS40897.2019.8967611
Publication status	Published - Nov 2019
Event	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China Duration: 3 Nov 2019 → 8 Nov 2019

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Country/Territory	China
City	Macau
Period	3/11/19 → 8/11/19

Bibliographical note

Funding Information:
ACKNOWLEDGMENT The authors wish to thank for conducting the research work with support from the Energy Research Institute @ NTU (ERI@N) and NTU internal grant for the project on Large Vertical Take-Off and Landing (VTOL) Research Platform: Prototype development and demonstration (NTU internal funding).

Publisher Copyright:
© 2019 IEEE.

Access to Document

10.1109/IROS40897.2019.8967611

Handle.net

Persistent link

Cite this

Kocer, B. B., Tiryaki, M. E., Pratama, M., Tjahjowidodo, T., & Seet, G. G. L. (2019). Aerial Robot Control in Close Proximity to Ceiling: A Force Estimation-based Nonlinear MPC. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 (pp. 2813-2819). Article 8967611 (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/IROS40897.2019.8967611

Kocer, Basaran Bahadir ; Tiryaki, Mehmet Efe ; Pratama, Mahardhika et al. / Aerial Robot Control in Close Proximity to Ceiling : A Force Estimation-based Nonlinear MPC. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019. Institute of Electrical and Electronics Engineers (IEEE), 2019. pp. 2813-2819 (IEEE International Conference on Intelligent Robots and Systems).

@inproceedings{8861f556bed24faa91ae8efe7e451510,

title = "Aerial Robot Control in Close Proximity to Ceiling: A Force Estimation-based Nonlinear MPC",

abstract = "Being motivated by ceiling inspection applications via unmanned aerial vehicles (UAVs) which require close proximity flight to surfaces, a systematic control approach enabling safe and accurate close proximity flight is proposed in this work. There are two main challenges for close proximity flights: (i) the trust characteristics varies drastically for the different distance from the ceiling which results in a complex nonlinear dynamics; (ii) the system needs to consider physical and environmental constraints to safely fly in close proximity. To address these challenges, a novel framework consisting of a constrained optimization-based force estimation and an optimization-based nonlinear controller is proposed. Experimental results illustrate that the performance of the proposed control approach can stabilize UAV down to 1 cm distance to the ceiling. Furthermore, we report that the UAV consumes up to 12.5\% less power when it is operated 1 cm distance to ceiling, which is promising potential for more battery-efficient inspection flights.",

author = "Kocer, \{Basaran Bahadir\} and Tiryaki, \{Mehmet Efe\} and Mahardhika Pratama and Tegoeh Tjahjowidodo and Seet, \{Gerald Gim Lee\}",

note = "Funding Information: ACKNOWLEDGMENT The authors wish to thank for conducting the research work with support from the Energy Research Institute @ NTU (ERI@N) and NTU internal grant for the project on Large Vertical Take-Off and Landing (VTOL) Research Platform: Prototype development and demonstration (NTU internal funding). Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 ; Conference date: 03-11-2019 Through 08-11-2019",

year = "2019",

month = nov,

doi = "10.1109/IROS40897.2019.8967611",

language = "English",

series = "IEEE International Conference on Intelligent Robots and Systems",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

pages = "2813--2819",

booktitle = "2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019",

address = "United States",

}

Kocer, BB, Tiryaki, ME, Pratama, M, Tjahjowidodo, T & Seet, GGL 2019, Aerial Robot Control in Close Proximity to Ceiling: A Force Estimation-based Nonlinear MPC. in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019., 8967611, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers (IEEE), pp. 2813-2819, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019, Macau, China, 3/11/19. https://doi.org/10.1109/IROS40897.2019.8967611

Aerial Robot Control in Close Proximity to Ceiling: A Force Estimation-based Nonlinear MPC. / Kocer, Basaran Bahadir; Tiryaki, Mehmet Efe; Pratama, Mahardhika et al.
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019. Institute of Electrical and Electronics Engineers (IEEE), 2019. p. 2813-2819 8967611 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

TY - GEN

T1 - Aerial Robot Control in Close Proximity to Ceiling

T2 - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019

AU - Kocer, Basaran Bahadir

AU - Tiryaki, Mehmet Efe

AU - Pratama, Mahardhika

AU - Tjahjowidodo, Tegoeh

AU - Seet, Gerald Gim Lee

N1 - Funding Information: ACKNOWLEDGMENT The authors wish to thank for conducting the research work with support from the Energy Research Institute @ NTU (ERI@N) and NTU internal grant for the project on Large Vertical Take-Off and Landing (VTOL) Research Platform: Prototype development and demonstration (NTU internal funding). Publisher Copyright: © 2019 IEEE.

PY - 2019/11

Y1 - 2019/11

N2 - Being motivated by ceiling inspection applications via unmanned aerial vehicles (UAVs) which require close proximity flight to surfaces, a systematic control approach enabling safe and accurate close proximity flight is proposed in this work. There are two main challenges for close proximity flights: (i) the trust characteristics varies drastically for the different distance from the ceiling which results in a complex nonlinear dynamics; (ii) the system needs to consider physical and environmental constraints to safely fly in close proximity. To address these challenges, a novel framework consisting of a constrained optimization-based force estimation and an optimization-based nonlinear controller is proposed. Experimental results illustrate that the performance of the proposed control approach can stabilize UAV down to 1 cm distance to the ceiling. Furthermore, we report that the UAV consumes up to 12.5% less power when it is operated 1 cm distance to ceiling, which is promising potential for more battery-efficient inspection flights.

AB - Being motivated by ceiling inspection applications via unmanned aerial vehicles (UAVs) which require close proximity flight to surfaces, a systematic control approach enabling safe and accurate close proximity flight is proposed in this work. There are two main challenges for close proximity flights: (i) the trust characteristics varies drastically for the different distance from the ceiling which results in a complex nonlinear dynamics; (ii) the system needs to consider physical and environmental constraints to safely fly in close proximity. To address these challenges, a novel framework consisting of a constrained optimization-based force estimation and an optimization-based nonlinear controller is proposed. Experimental results illustrate that the performance of the proposed control approach can stabilize UAV down to 1 cm distance to the ceiling. Furthermore, we report that the UAV consumes up to 12.5% less power when it is operated 1 cm distance to ceiling, which is promising potential for more battery-efficient inspection flights.

UR - https://www.scopus.com/pages/publications/85081162189

U2 - 10.1109/IROS40897.2019.8967611

DO - 10.1109/IROS40897.2019.8967611

M3 - Conference Contribution (Conference Proceeding)

AN - SCOPUS:85081162189

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 2813

EP - 2819

BT - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019

PB - Institute of Electrical and Electronics Engineers (IEEE)

Y2 - 3 November 2019 through 8 November 2019

ER -

Kocer BB, Tiryaki ME, Pratama M, Tjahjowidodo T, Seet GGL. Aerial Robot Control in Close Proximity to Ceiling: A Force Estimation-based Nonlinear MPC. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019. Institute of Electrical and Electronics Engineers (IEEE). 2019. p. 2813-2819. 8967611. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS40897.2019.8967611

Aerial Robot Control in Close Proximity to Ceiling: A Force Estimation-based Nonlinear MPC

Abstract

Publication series

Conference

Bibliographical note

Access to Document

Handle.net

Other files and links

Fingerprint

Cite this