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 201911 citations

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

Abstract

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 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.

BibTeX

@inproceedings{ral2019_nonlinearmodelpr,
  title = {Nonlinear Model Predictive Control for the Stabilization of a Wheeled Unmanned Aerial Vehicle on a Pipe},
  author = {Suping Zhao and Fabio Ruggiero and Giuseppe Andrea Fontanelli and Vincenzo Lippiello and Zhanxia Zhu and Bruno Siciliano},
  booktitle = {RA-L 2019},
  year = {2019}
}