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Using Constrained Model Predictive Control to Control Two Quadrotors Transporting a Cable-Suspended Payload

Alothman, Yaser and Gu, Dongbing (2019) Using Constrained Model Predictive Control to Control Two Quadrotors Transporting a Cable-Suspended Payload. In: 2018 13th World Congress on Intelligent Control and Automation (WCICA), 2018-07-04 - 2018-07-08, Changsha, China.

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Abstract

This paper applies a constrained MPC controller to control two quadrotors which carry a cable-suspended payload together. The system dynamics is derived from the Euler-Lagrange equation. Given the dynamics complexity, a linear MPC controller is employed for a control task, which is to make the payload to track a desired trajectory while stabilising the two quadrotors. The constraints on quadrotor control signals and payload positions are taken into consideration. The constrained controller could be useful for practical control systems. The simulation results are provided to evaluate the control performance against an LQR controller.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Published proceedings: 2018 13th World Congress on Intelligent Control and Automation (WCICA)
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Elements
Date Deposited: 18 Mar 2019 14:33
Last Modified: 18 Mar 2019 14:33
URI: http://repository.essex.ac.uk/id/eprint/24223

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