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- W2955344016 abstract "A nonlinear MPC controller is developed in this work to control the suspended payload position carried with two quadrotors by cables. The dynamic model is derived using the Euler-Lagrange equation. Given high nonlinear complex dynamics and constrained environments, a constrained NMPC controller is applied to handle the control tasks. These tasks are presented by the payload tracking a reference trajectory while the constraints are employed. The constraints to be considered include the limits on the quadrotors control inputs, the payload position, the swing angles and the orientation of both quadrotors. The MATLAB simulation results are obtained against a constrained linear MPC controller. The system is also tested under disturbance to show the nonlinear control performance against the linear counterpart." @default.
- W2955344016 created "2019-07-12" @default.
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- W2955344016 date "2018-09-01" @default.
- W2955344016 modified "2023-09-27" @default.
- W2955344016 title "Using Constrained NMPC to Control a Cable-Suspended Payload With Two Quadrotors" @default.
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- W2955344016 doi "https://doi.org/10.23919/iconac.2018.8749093" @default.
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