TY - JOUR
T1 - Nonlinear Model Predictive Control for the Stabilization of a Wheeled Unmanned Aerial Vehicle on a Pipe
AU - Zhao, Suping
AU - Ruggiero, Fabio
AU - Fontanelli, Giuseppe Andrea
AU - Lippiello, Vincenzo
AU - Zhu, Zhanxia
AU - Siciliano, Bruno
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - 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.
AB - 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.
KW - Nonlinear model predictive control
KW - nondestructive testing
KW - wheeled unmanned aerial vehicle
UR - http://www.scopus.com/inward/record.url?scp=85071493252&partnerID=8YFLogxK
U2 - 10.1109/LRA.2019.2931821
DO - 10.1109/LRA.2019.2931821
M3 - 文章
AN - SCOPUS:85071493252
SN - 2377-3766
VL - 4
SP - 4314
EP - 4321
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 4
M1 - 8779677
ER -