UAV Push Recovery Operation by Symmetrical Control and Estimation in Receding Horizon

Basaran Bahadir Kocer; Tegoeh Tjahjowidodo; Gerald Gim Lee Seet

doi:10.1109/ICARCV.2018.8581186

UAV Push Recovery Operation by Symmetrical Control and Estimation in Receding Horizon

Basaran Bahadir Kocer
, Tegoeh Tjahjowidodo
, Gerald Gim Lee Seet

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

4 Citations (Scopus)

Abstract

This paper presents an unmanned aerial vehicle (UAV) push recovery operation using model predictive control (MPC) and moving horizon estimation (MHE) in a symmetric manner. This utilization is motivated by the active use of UAVs, particularly for the contact based inspection of the surrounding's ceilings. To enable a physical interaction operation by an optimization-based algorithm, a primal-dual quadratic programming (QP) solver is structured for the MPC and MHE. The designed system consists of (a) an interaction model to be implemented both on the control and the estimation; (b) an integral action in the predictive controller; (c) a disturbance estimation by MHE to update the MPC. Consequently, the nominal MPC, the integral action in MPC, and the disturbance observer based MPC are compared for a UAV push recovery operation. The numerical investigations demonstrate the applicability of the proposed approach.

Original language	English
Title of host publication	2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	978-983
Number of pages	6
ISBN (Electronic)	9781538695821
DOIs	https://doi.org/10.1109/ICARCV.2018.8581186
Publication status	Published - 18 Dec 2018
Event	15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018 - Singapore, Singapore Duration: 18 Nov 2018 → 21 Nov 2018

Publication series

Name	2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018

Conference

Conference	15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
Country/Territory	Singapore
City	Singapore
Period	18/11/18 → 21/11/18

Bibliographical note

Publisher Copyright:
© 2018 IEEE.

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Kocer, B. B., Tjahjowidodo, T., & Lee Seet, G. G. (2018). UAV Push Recovery Operation by Symmetrical Control and Estimation in Receding Horizon. In 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018 (pp. 978-983). Article 8581186 (2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ICARCV.2018.8581186

Kocer, Basaran Bahadir ; Tjahjowidodo, Tegoeh ; Lee Seet, Gerald Gim. / UAV Push Recovery Operation by Symmetrical Control and Estimation in Receding Horizon. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018. Institute of Electrical and Electronics Engineers (IEEE), 2018. pp. 978-983 (2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018).

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title = "UAV Push Recovery Operation by Symmetrical Control and Estimation in Receding Horizon",

abstract = "This paper presents an unmanned aerial vehicle (UAV) push recovery operation using model predictive control (MPC) and moving horizon estimation (MHE) in a symmetric manner. This utilization is motivated by the active use of UAVs, particularly for the contact based inspection of the surrounding's ceilings. To enable a physical interaction operation by an optimization-based algorithm, a primal-dual quadratic programming (QP) solver is structured for the MPC and MHE. The designed system consists of (a) an interaction model to be implemented both on the control and the estimation; (b) an integral action in the predictive controller; (c) a disturbance estimation by MHE to update the MPC. Consequently, the nominal MPC, the integral action in MPC, and the disturbance observer based MPC are compared for a UAV push recovery operation. The numerical investigations demonstrate the applicability of the proposed approach.",

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Kocer, BB, Tjahjowidodo, T & Lee Seet, GG 2018, UAV Push Recovery Operation by Symmetrical Control and Estimation in Receding Horizon. in 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018., 8581186, 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, Institute of Electrical and Electronics Engineers (IEEE), pp. 978-983, 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, Singapore, Singapore, 18/11/18. https://doi.org/10.1109/ICARCV.2018.8581186

UAV Push Recovery Operation by Symmetrical Control and Estimation in Receding Horizon. / Kocer, Basaran Bahadir; Tjahjowidodo, Tegoeh; Lee Seet, Gerald Gim.
2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018. Institute of Electrical and Electronics Engineers (IEEE), 2018. p. 978-983 8581186 (2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018).

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

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PY - 2018/12/18

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N2 - This paper presents an unmanned aerial vehicle (UAV) push recovery operation using model predictive control (MPC) and moving horizon estimation (MHE) in a symmetric manner. This utilization is motivated by the active use of UAVs, particularly for the contact based inspection of the surrounding's ceilings. To enable a physical interaction operation by an optimization-based algorithm, a primal-dual quadratic programming (QP) solver is structured for the MPC and MHE. The designed system consists of (a) an interaction model to be implemented both on the control and the estimation; (b) an integral action in the predictive controller; (c) a disturbance estimation by MHE to update the MPC. Consequently, the nominal MPC, the integral action in MPC, and the disturbance observer based MPC are compared for a UAV push recovery operation. The numerical investigations demonstrate the applicability of the proposed approach.

AB - This paper presents an unmanned aerial vehicle (UAV) push recovery operation using model predictive control (MPC) and moving horizon estimation (MHE) in a symmetric manner. This utilization is motivated by the active use of UAVs, particularly for the contact based inspection of the surrounding's ceilings. To enable a physical interaction operation by an optimization-based algorithm, a primal-dual quadratic programming (QP) solver is structured for the MPC and MHE. The designed system consists of (a) an interaction model to be implemented both on the control and the estimation; (b) an integral action in the predictive controller; (c) a disturbance estimation by MHE to update the MPC. Consequently, the nominal MPC, the integral action in MPC, and the disturbance observer based MPC are compared for a UAV push recovery operation. The numerical investigations demonstrate the applicability of the proposed approach.

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Kocer BB, Tjahjowidodo T, Lee Seet GG. UAV Push Recovery Operation by Symmetrical Control and Estimation in Receding Horizon. In 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018. Institute of Electrical and Electronics Engineers (IEEE). 2018. p. 978-983. 8581186. (2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018). doi: 10.1109/ICARCV.2018.8581186

UAV Push Recovery Operation by Symmetrical Control and Estimation in Receding Horizon

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