Nonlinear MPC for Full-Pose Manipulation of a Cable-Suspended Load Using Multiple UAVs

Sihao Sun; Antonio Franchi

doi:10.1109/ICUAS57906.2023.10156031

Nonlinear MPC for Full-Pose Manipulation of a Cable-Suspended Load Using Multiple UAVs

Sihao Sun^*, Antonio Franchi

^*Corresponding author for this work

Robotics and Mechatronics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

13 Citations (Scopus)

167 Downloads (Pure)

Abstract

In this work, we propose a centralized control method based on nonlinear model predictive control to let multiple UAVs manipulate the full pose of an object via cables. At the best of the authors knowledge this is the first method that takes into account the full nonlinear model of the load-UAV system, and ensures all the feasibility constraints concerning the UAV maximumum and minimum thrusts, the collision avoidance between the UAVs, cables and load, and the tautness and maximum tension of the cables. By taking into account the above factors, the proposed control algorithm can fully exploit the performance of UAVs and facilitate the speed of operation. Simulations are conducted to validate the algorithm to achieve fast and safe manipulation of the pose of a rigid-body payload using multiple UAVs.
We demonstrate that the computational time of the proposed method is sufficiently small (

Original language	English
Title of host publication	2023 International Conference on Unmanned Aircraft Systems (ICUAS)
Publisher	IEEE
Pages	969-975
Number of pages	7
ISBN (Electronic)	979-8-3503-1037-5
ISBN (Print)	979-8-3503-1038-2
DOIs	https://doi.org/10.1109/ICUAS57906.2023.10156031
Publication status	Published - 26 Jun 2023
Event	International Conference on Unmanned Aircraft Systems, ICUAS 2023 - Warsaw, Poland, Warsaw, Poland Duration: 6 Jun 2023 → 9 Jun 2023

Conference

Conference	International Conference on Unmanned Aircraft Systems, ICUAS 2023
Abbreviated title	ICUAS 2023
Country/Territory	Poland
City	Warsaw
Period	6/06/23 → 9/06/23

Keywords

Uncertain systems
Computational modeling
Transportation
Prediction algorithms
Numerical simulation
Collision avoidance
Predictive control

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/ICUAS57906.2023.10156031

Nonlinear_MPC_for_full_pose_manipulation_of_a_cable_suspended_load_using_multiple_UAVsAccepted author version, 1.73 MBLicence: CC BY-NC-SA

13 Citations
1 Preprint

Nonlinear MPC for Full-Pose Manipulation of a Cable-Suspended Load using Multiple UAVs
Sun, S. & Franchi, A., 20 Jan 2023, ArXiv.org.
Research output: Working paper › Preprint › Academic

Open Access
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30 Downloads (Pure)

Cite this

@inproceedings{e1cf5003db2a4051be7b030fd7784cdb,

title = "Nonlinear MPC for Full-Pose Manipulation of a Cable-Suspended Load Using Multiple UAVs",

abstract = "In this work, we propose a centralized control method based on nonlinear model predictive control to let multiple UAVs manipulate the full pose of an object via cables. At the best of the authors knowledge this is the first method that takes into account the full nonlinear model of the load-UAV system, and ensures all the feasibility constraints concerning the UAV maximumum and minimum thrusts, the collision avoidance between the UAVs, cables and load, and the tautness and maximum tension of the cables. By taking into account the above factors, the proposed control algorithm can fully exploit the performance of UAVs and facilitate the speed of operation. Simulations are conducted to validate the algorithm to achieve fast and safe manipulation of the pose of a rigid-body payload using multiple UAVs.We demonstrate that the computational time of the proposed method is sufficiently small (",

keywords = "Uncertain systems, Computational modeling, Transportation, Prediction algorithms, Numerical simulation, Collision avoidance, Predictive control",

author = "Sihao Sun and Antonio Franchi",

note = "Funding Information: 1 Robotics and Mechatronics Department, Electrical Engineering, Mathematics, and Computer Science (EEMCS) Faculty, University of Twente, 7500 AE Enschede, The Netherlands. [email protected], [email protected] 2 Department of Computer, Control and Management Engineering, Sapienza University of Rome, 00185 Rome, Italy, [email protected] 3 LAAS-CNRS, Universit{\'e} de Toulouse, 31000 Toulouse, France, [email protected] This work has been partially funded by the Horizon Europe and H2020 research and innovation programs under agreement agreement no. 871479 (AERIAL-CORE) Publisher Copyright: {\textcopyright} 2023 IEEE.; International Conference on Unmanned Aircraft Systems, ICUAS 2023<br/>, ICUAS 2023 ; Conference date: 06-06-2023 Through 09-06-2023",

year = "2023",

month = jun,

day = "26",

doi = "10.1109/ICUAS57906.2023.10156031",

language = "English",

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T1 - Nonlinear MPC for Full-Pose Manipulation of a Cable-Suspended Load Using Multiple UAVs

AU - Sun, Sihao

AU - Franchi, Antonio

N1 - Funding Information: 1 Robotics and Mechatronics Department, Electrical Engineering, Mathematics, and Computer Science (EEMCS) Faculty, University of Twente, 7500 AE Enschede, The Netherlands. [email protected], [email protected] 2 Department of Computer, Control and Management Engineering, Sapienza University of Rome, 00185 Rome, Italy, [email protected] 3 LAAS-CNRS, Université de Toulouse, 31000 Toulouse, France, [email protected] This work has been partially funded by the Horizon Europe and H2020 research and innovation programs under agreement agreement no. 871479 (AERIAL-CORE) Publisher Copyright: © 2023 IEEE.

PY - 2023/6/26

Y1 - 2023/6/26

N2 - In this work, we propose a centralized control method based on nonlinear model predictive control to let multiple UAVs manipulate the full pose of an object via cables. At the best of the authors knowledge this is the first method that takes into account the full nonlinear model of the load-UAV system, and ensures all the feasibility constraints concerning the UAV maximumum and minimum thrusts, the collision avoidance between the UAVs, cables and load, and the tautness and maximum tension of the cables. By taking into account the above factors, the proposed control algorithm can fully exploit the performance of UAVs and facilitate the speed of operation. Simulations are conducted to validate the algorithm to achieve fast and safe manipulation of the pose of a rigid-body payload using multiple UAVs.We demonstrate that the computational time of the proposed method is sufficiently small (

AB - In this work, we propose a centralized control method based on nonlinear model predictive control to let multiple UAVs manipulate the full pose of an object via cables. At the best of the authors knowledge this is the first method that takes into account the full nonlinear model of the load-UAV system, and ensures all the feasibility constraints concerning the UAV maximumum and minimum thrusts, the collision avoidance between the UAVs, cables and load, and the tautness and maximum tension of the cables. By taking into account the above factors, the proposed control algorithm can fully exploit the performance of UAVs and facilitate the speed of operation. Simulations are conducted to validate the algorithm to achieve fast and safe manipulation of the pose of a rigid-body payload using multiple UAVs.We demonstrate that the computational time of the proposed method is sufficiently small (

KW - Uncertain systems

KW - Computational modeling

KW - Transportation

KW - Prediction algorithms

KW - Numerical simulation

KW - Collision avoidance

KW - Predictive control

U2 - 10.1109/ICUAS57906.2023.10156031

DO - 10.1109/ICUAS57906.2023.10156031

M3 - Conference contribution

SN - 979-8-3503-1038-2

SP - 969

EP - 975

BT - 2023 International Conference on Unmanned Aircraft Systems (ICUAS)

PB - IEEE

T2 - International Conference on Unmanned Aircraft Systems, ICUAS 2023<br/>

Y2 - 6 June 2023 through 9 June 2023

ER -

Nonlinear MPC for Full-Pose Manipulation of a Cable-Suspended Load Using Multiple UAVs

Abstract

Conference

Keywords

UN SDGs

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Research output

Nonlinear MPC for Full-Pose Manipulation of a Cable-Suspended Load using Multiple UAVs

Cite this