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.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

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


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Yan, Liang (Herausgeber:in) / Duan, Haibin (Herausgeber:in) / Deng, Yimin (Herausgeber:in) / Liu, Bingbing (Autor:in) / Yu, Hai (Autor:in) / He, Wei (Autor:in) / Fang, Yongchun (Autor:in) / Han, Jianda (Autor:in) / Liang, Xiao (Autor:in)

    Kongress:

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



    Erscheinungsdatum :

    02.03.2025


    Format / Umfang :

    9 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    A Hybrid Control Approach for the Swing Free Transportation of a Double Pendulum with a Quadrotor

    Estévez Sanz, Julián / López Guede, José Manuel / Garate Zubiaurre, Gorka et al. | BASE | 2021

    Freier Zugriff

    Swing of pendulum

    Engineering Index Backfile | 1942


    Control System of Nonlinear Process to Swing Up and Stabilize Inverted Pendulum

    Nishida, M. / Kaneshige, A. / Terashima, K. | British Library Online Contents | 1995


    Swing-Up Control of a Rotational Double Inverted Pendulum Using Entrainment

    Kajiwara, H. / Hashimoto, Y. / Tsuchiya, T. | British Library Online Contents | 2001