A Nullspace-Based Predictive Control Allocation for the Control of a Quadcopter Manipulating an Object Attached to the Ground

Tam W. Nguyen*, Kenji Hirata*, Kyoungseok Han

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper, we propose a novel optimal predictive control allocation for the control of a quadcopter manipulating an object attached to the ground. This controller sprucely takes advantage of the nullspace of the quadcopter attitude mapped to the effective force to compute the optimal sequence of controls and attitude references. In particular, at each time instant, the controller solves a nonlinear minimization problem, where a specialized term is added to the cost function to penalize the deviation of the desired attitude from its nullspace, which is the attitude subspace for which any thrust generates zero effective force on the system. The weight associated to this specialized term uses a Gaussian bell-curve function to make the tuning of the attitude-reference generation more flexible and enhance the performance of the controller. To demonstrate the effectiveness of the proposed controller, numerical simulations of two different cases are provided.

Original languageEnglish
Title of host publicationIFAC-PapersOnLine
EditorsHideaki Ishii, Yoshio Ebihara, Jun-ichi Imura, Masaki Yamakita
PublisherElsevier B.V.
Pages6286-6291
Number of pages6
Edition2
ISBN (Electronic)9781713872344
DOIs
StatePublished - 2023/07/01
Event22nd IFAC World Congress - Yokohama, Japan
Duration: 2023/07/092023/07/14

Publication series

NameIFAC-PapersOnLine
Number2
Volume56
ISSN (Electronic)2405-8963

Conference

Conference22nd IFAC World Congress
Country/TerritoryJapan
CityYokohama
Period2023/07/092023/07/14

Keywords

  • Aerospace
  • Control Design
  • Non-Linear Control Systems
  • Optimal Control
  • Robotics

ASJC Scopus subject areas

  • Control and Systems Engineering

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