Model Predictive Control of Load Transporting System on Unmanned Aerial Vehicle (UAV)

AYTAC, ALTAN and OZGUR, ASLAN and RIFAT, HACIOGLU (2017) Model Predictive Control of Load Transporting System on Unmanned Aerial Vehicle (UAV). In: Fifth International Conference on Advances in Mechanical and Robotics Engineering - AMRE 2017, 27-28 May, 2017, Rome, Italy.

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Abstract

The control system in Unmanned Aerial Vehicles (UAV), which is widely used in exploration and surveillance, target detection and tracking, remote sensing and mapping, logistics and cargo, search and rescue in dangerous areas, is very important. In this study, the model of the Load Transporting System (LTS) originally designed on UAV is obtained by linear Auto-Regressive eXogenous (ARX) model structure and the Model Predictive Control (MPC) is performed. The 4 payloads in the cubic structure can be carried by the originally designed LTS. DC servo motor is used in the LTS so that payloads can be left to the predetermined targets. When designing the MPC compared to classic PID, the limitations due to the physical properties of the LTS on the UAV are considered. The UAV autonomously flies and leaves payloads using LTS on targets.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: UAV, Load Transport Sytstem (LTS), Model Predictive Control (MPC), position control
Depositing User: Mr. John Steve
Date Deposited: 15 Mar 2019 11:06
Last Modified: 15 Mar 2019 11:06
URI: http://publications.theired.org/id/eprint/460

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