Nonlinear predictive UAV-elastic tool interaction control in real-time

Basaran Bahadir Kocer, Gerald Seet Gim Lee, Tegoeh Tjahjowidodo

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

10 Citations (Scopus)

Abstract

This paper addresses the control problem of an unmanned aerial vehicle (UAV) endowed with a tool to physically contact with the environment. Deploying an arm attached on UAV to utilize an interaction, particularly in close proximity to the environment, can be a more demanding task. To conduct a feasible operation, a tailored elastic arm is designed to employ a centralized predictive interaction control by leveraging the nonlinear quadrotor UAV model. For the system's physical bounds and sets for the UAV and its tool, an analysis is given. In order to maintain a feasible interaction and generate smooth trajectories, flatness-based outputs are defined. Consequently, a centralized optimization algorithm respecting system constraints and nonlinearities for the quadrotor-tool interaction is developed. The proposed approach is validated through experiments for the push recovery and sliding on the ceiling cases in real-time. Due to the dimension of the nonlinear model, the computation time is heavier than one of the possible decomposed models. However, the designed centralized algorithm for the constrained optimization-based control is solved in an average of 2.3 ms in this implementation.

Original languageEnglish
Title of host publicationAIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages472-477
Number of pages6
ISBN (Print)9781538618547
DOIs
Publication statusPublished - 30 Aug 2018
Event2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand
Duration: 9 Jul 201812 Jul 2018

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2018-July

Conference

Conference2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
Country/TerritoryNew Zealand
CityAuckland
Period9/07/1812/07/18

Bibliographical note

Publisher Copyright:
© 2018 IEEE.

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