For the cable-suspended aerial transportation system (ATS), double pendulum effects caused by the hook and payload is unignorable. This paper presents a nonlinear controller incorporating a model predictive control (MPC)-based gains auto-tuning scheme designed specifically for the ATS with double-pendulum swing (DPS) effects. With the gains auto-tuning method, control gains can be tuned effectively and optimally compared with manual tuning. Specifically, an energy-based controller is firstly presented. Subsequently, to improve the control performance, a gains auto-tuning scheme is developed for optimizing the control gains. Ultimately, simulation results demonstrate that the proposed controller can precisely fulfill quadrotor positioning and effectively suppress payload and hook swing angles.
Nonlinear MPC-Based Gains Auto-Tuning Control for Aerial Transportation System with Double-Pendulum Swing Effects
Lect. Notes Electrical Eng.
International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024
2025-03-02
9 pages
Article/Chapter (Book)
Electronic Resource
English
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