This letter addresses the task of stabilizing a wheeled unmanned aerial vehicle on a pipe, which is an emerging applica- tion in oil and gas facilities for nondestructive measurements. After the derivation of the dynamic model of the system, a discrete-time nonlinear model predictive controller is designed over a finite horizon. The analysis of the asymptotic stability of the designed controller is carried out. Numerical tests show the performance and the robustness of the proposed solution.
Nonlinear Model Predictive Control for the Stabilization of a Wheeled Unmanned Aerial Vehicle on a Pipe / Zhao, Suping; Ruggiero, Fabio; Fontanelli, Giuseppe Andrea; Lippiello, Vincenzo; Zhu, Zhanxia; Siciliano, Bruno. - In: IEEE ROBOTICS AND AUTOMATION LETTERS. - ISSN 2377-3766. - 4:4(2019), pp. 4314-4321. [10.1109/LRA.2019.2931821]
Nonlinear Model Predictive Control for the Stabilization of a Wheeled Unmanned Aerial Vehicle on a Pipe
Ruggiero, Fabio
;Fontanelli, Giuseppe Andrea;Lippiello, Vincenzo;Siciliano, Bruno
2019
Abstract
This letter addresses the task of stabilizing a wheeled unmanned aerial vehicle on a pipe, which is an emerging applica- tion in oil and gas facilities for nondestructive measurements. After the derivation of the dynamic model of the system, a discrete-time nonlinear model predictive controller is designed over a finite horizon. The analysis of the asymptotic stability of the designed controller is carried out. Numerical tests show the performance and the robustness of the proposed solution.| File | Dimensione | Formato | |
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