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

Research output: Contribution to journalArticlepeer-review

11 Scopus citations

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.

Original languageEnglish
Article number8779677
Pages (from-to)4314-4321
Number of pages8
JournalIEEE Robotics and Automation Letters
Volume4
Issue number4
DOIs
StatePublished - Oct 2019

Keywords

  • Nonlinear model predictive control
  • nondestructive testing
  • wheeled unmanned aerial vehicle

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