This paper presents a general MPC-based control framework that includes the linear complementarity problem (LCP) for modeling the interaction forces of a mobile robot. To validate our approach, two case studies are considered: ($i$) an aerial robot that should reach a target point placed on a frictionless surface; and ($ii$) an aerial robot that should lift a cable-suspended mass, switching from a slack to a taut cable condition. The simulation results confirm the validity of our approach, and the ability of the LCP to model the interaction forces for an aerial platform.
A Linear Complementarity based MPC for Aerial Physical Interaction
14.05.2025
455958 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
On Linear Passive Complementarity Systems
British Library Online Contents | 2002
|A linear complementarity method for the solution of vertical vehicle–track interaction
Taylor & Francis Verlag | 2018
|