Published July 29, 2019 | Version Pre-print
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Nonlinear Model Predictive Control for the Stabilization of a Wheeled Unmanned Aerial Vehicle on a Pipe

Authors/Creators

  • 1. National Key Laboratory of Aerospace Flight Dynamics Northwestern Polytechnical University Xi'an, China
  • 2. University of Naples Federico II
  • 3. National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, China

Description

This letter addresses the task of stabilizing a wheeled unmanned aerial vehicle on a pipe, which is an emerging application in oil and gas facilities for nondestructive measurements. After the derivation of the dynamic model of the system, a discrete-time nonlinear model predictive controller is designed over a finite horizon. The analysis of the asymptotic stability of the designed controller is carried out. Numerical tests show the performance and the robustness of the proposed solution.

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