research-article

Nonlinear model predictive control of PVTOL aircraft under state and input constraints

Authors:

Vishwanath Ketkar,

N. M. SinghAuthors Info & Claims

AIR '13: Proceedings of Conference on Advances In Robotics

Pages 1 - 6

https://doi.org/10.1145/2506095.2506123

Published: 04 July 2013 Publication History

Abstract

The paper presents a nonlinear model predictive control (NMPC) strategy for stabilization and trajectory tracking control of planar vertical Take-off and landing (PVTOL) aircraft. PVTOL system is considered as a benchmark for investigating dynamics and control related issues for unmanned aerial vehicles (UAVs). Control problem of such systems is made challenging due to their under-actuated nature and nonlinear dynamics. We propose a nonlinear MPC methodology to effectively deal with such nonlinearities. Also, the proposed control strategy takes into account state (roll angle) as well as input thrust constraints. Validation of control law is performed through MATLAB simulations for various operating conditions and coupling scenarios.

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Cited By

Aguilar-Ibanez CSuarez-Castanon MMeda-Campaña JGutierrez-Frias OMerlo-Zapata CMartinez-Castro J(2019)A Simple Approach to Regulate a PVTOL System Using Matching ConditionsJournal of Intelligent & Robotic Systems10.1007/s10846-019-01087-xOnline publication date: 6-Sep-2019
https://doi.org/10.1007/s10846-019-01087-x
Aguilar‐Ibanez CSira‐Ramirez HSuarez‐Castanon MGarrido R(2019)Robust Trajectory‐Tracking Control of a PVTOL under CrosswindAsian Journal of Control10.1002/asjc.181721:3(1293-1306)Online publication date: 22-May-2019
https://dl.acm.org/doi/10.1002/asjc.1817
Kopf MBullinger EGiesseler HAdden SFindeisen R(2018)Model Predictive Control for Aircraft Load Alleviation: Opportunities and Challenges2018 Annual American Control Conference (ACC)10.23919/ACC.2018.8430956(2417-2424)Online publication date: Jun-2018
https://doi.org/10.23919/ACC.2018.8430956
Show More Cited By

Index Terms

Nonlinear model predictive control of PVTOL aircraft under state and input constraints

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AIR '13: Proceedings of Conference on Advances In Robotics

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Finite-time observer-based output-feedback control for the global stabilisation of the PVTOL aircraft with bounded inputs

In this work, an output-feedback scheme for the global stabilisation of the planar vertical take-off and landing aircraft with bounded inputs is developed taking into account the positive nature of the thrust. The global stabilisation objective is ...
Prescribed performance control for uncertain underactuated systems via constraint‐following with application to a PVTOL aircraft
Summary
Guaranteeing prescribed transient and steady state performance (TSSP) for mechanical systems is of great significance to their motion control, motivating the prescribed performance control (PPC). This study investigates the PPC for uncertain ...

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Published In

cover image ACM Other conferences

AIR '13: Proceedings of Conference on Advances In Robotics

July 2013

366 pages

ISBN:9781450323475

DOI:10.1145/2506095

Co-chairs:
Alok Mukherjee
R&DE (Engrs.), Pune
,
Anuj Kapuria
Hi-Tech Robotic Systemz Ltd, Gurgaon
,
Program Chairs:
Tom Shibata
NIST, Japan
,
Santanu Chaudhury
IIT Delhi, India
,
Publications Chair:
Subir Kumar Saha
IIT Delhi, India

Copyright © 2013 ACM.

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Published: 04 July 2013

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AIR '13

AIR '13: Advances In Robotics 2013

July 4 - 6, 2013

Pune, India

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Overall Acceptance Rate 69 of 140 submissions, 49%

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Cited By

Aguilar-Ibanez CSuarez-Castanon MMeda-Campaña JGutierrez-Frias OMerlo-Zapata CMartinez-Castro J(2019)A Simple Approach to Regulate a PVTOL System Using Matching ConditionsJournal of Intelligent & Robotic Systems10.1007/s10846-019-01087-xOnline publication date: 6-Sep-2019
https://doi.org/10.1007/s10846-019-01087-x
Aguilar‐Ibanez CSira‐Ramirez HSuarez‐Castanon MGarrido R(2019)Robust Trajectory‐Tracking Control of a PVTOL under CrosswindAsian Journal of Control10.1002/asjc.181721:3(1293-1306)Online publication date: 22-May-2019
https://dl.acm.org/doi/10.1002/asjc.1817
Kopf MBullinger EGiesseler HAdden SFindeisen R(2018)Model Predictive Control for Aircraft Load Alleviation: Opportunities and Challenges2018 Annual American Control Conference (ACC)10.23919/ACC.2018.8430956(2417-2424)Online publication date: Jun-2018
https://doi.org/10.23919/ACC.2018.8430956
Aguilar-Ibanez CSuarez-Castanon MMeda-Campana JJesus Rubio JMartinez-Castro JBarron-Fernandez R(2018)Shaping Energy for the Stabilization of an Unmanned Aircfrat2018 15th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)10.1109/ICEEE.2018.8533918(1-5)Online publication date: Sep-2018
https://doi.org/10.1109/ICEEE.2018.8533918
Aguilar-Ibañez CSuarez-Castanon MMendoza-Mendoza JJesus Rubio JMartínez-García J(2018)Output-Feedback Stabilization of the PVTOL Aircraft System Based on an Exact DifferentiatorJournal of Intelligent and Robotic Systems10.1007/s10846-017-0660-090:3-4(443-454)Online publication date: 1-Jun-2018
https://dl.acm.org/doi/10.1007/s10846-017-0660-0

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