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.


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    Title :

    Nonlinear MPC-Based Gains Auto-Tuning Control for Aerial Transportation System with Double-Pendulum Swing Effects


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Deng, Yimin (editor) / Liu, Bingbing (author) / Yu, Hai (author) / He, Wei (author) / Fang, Yongchun (author) / Han, Jianda (author) / Liang, Xiao (author)

    Conference:

    International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024



    Publication date :

    2025-03-02


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





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