IDEAS home Printed from https://ideas.repec.org/a/gam/jmathe/v9y2021i15p1822-d606639.html
   My bibliography  Save this article

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

Author

Listed:
  • 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)

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.

Suggested Citation

  • Norberto Urbina-Brito & María-Eusebia Guerrero-Sánchez & Guillermo Valencia-Palomo & Omar Hernández-González & Francisco-Ronay López-Estrada & José Antonio Hoyo-Montaño, 2021. "A Predictive Control Strategy for Aerial Payload Transportation with an Unmanned Aerial Vehicle," Mathematics, MDPI, vol. 9(15), pages 1-15, August.
    • Handle: RePEc:gam:jmathe:v:9:y:2021:i:15:p:1822-:d:606639
    as

    Download full text from publisher

    File URL: https://www.mdpi.com/2227-7390/9/15/1822/pdf
    Download Restriction: no
    File URL: https://www.mdpi.com/2227-7390/9/15/1822/
    Download Restriction: no
    ---><---

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Yanping Gao & Kaixuan Kou & Weijing Zhang & Yishu Dai & Jingwei Ma, 2023. "Consensus in Networks of Agents with Cooperative and Antagonistic Interactions," Mathematics, MDPI, vol. 11(4), pages 1-13, February.
    2. Araceli Queiruga-Dios & María Jesus Santos Sánchez & Fatih Yilmaz & Deolinda M. L. Dias Rasteiro & Jesús Martín-Vaquero & Víctor Gayoso Martínez, 2022. "Mathematics and Its Applications in Science and Engineering," Mathematics, MDPI, vol. 10(19), pages 1-2, September.

    More about this item

    Keywords

    ;
    ;
    ;
    ;
    ;

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:gam:jmathe:v:9:y:2021:i:15:p:1822-:d:606639. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: MDPI Indexing Manager (email available below). General contact details of provider: https://www.mdpi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.