2019
Nonlinear Model Predictive Control for the Stabilization of a Wheeled Unmanned Aerial Vehicle on a Pipe
Suping Zhao, Fabio Ruggiero, Giuseppe Andrea Fontanelli, Vincenzo Lippiello, Zhanxia Zhu, Bruno Siciliano
RA-L 2019
This letter addresses the task of stabilizing a wheeled unmanned aerial vehicle on a pipe, which is an emerging application 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 des