Nonlinear Model Predictive Control for the Stabilization of a Wheeled Unmanned Aerial Vehicle on a Pipe

Zhao, Shuhong; Ruggiero, Fabio; Fontanelli, Giuseppe Andrea; Lippiello, Vincenzo; Zhu, Zefei; Siciliano, Bruno

doi:10.1109/lra.2019.2931821

Cited by 6 publications

(3 citation statements)

References 32 publications

(41 reference statements)

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“…More recently, several modern control with a nonlinear approach has been carried out. For instance model predictive control (MPC) [20,21], backstepping control [22], adaptive control [23], sliding mode control (SMC) [24], and finally intelligent control [12,19]. From those control methods, the SMC has been successfully applied to wide specific areas including nonlinear systems, MIMO systems, and stochastic systems [25][26][27].…”

Section: Introductionmentioning

confidence: 99%

Performance Examinations of Quadrotor with Sliding Mode Control-Neural Network on Various Trajectory and Conditions

Darwito¹,

Wahyuadnyana²

2022

MMEP

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In this article, the performance of the sliding mode control (SMC) that is combined with the backpropagation neural network (NN) as the main control of quadrotor’s dynamic systems was examined on various trajectories and conditions, through numerical simulation. The simulation is conducted with three different trajectories in the absence and presence of the time-varying external disturbances that were adopted from previous studies. The time-varying external disturbances are implemented for the roll, pitch, yaw, and altitude movement simultaneously with the gain set up at the value of 0.8. The simulation results show that the SMC-NN scheme was able to control the quadrotor either in the absence or in the presence of time-varying external disturbances, for each trajectory without any chattering or vibration issues in the quadrotor’s dynamic system. It can be concluded that the SMC-NN is one of the control strategies that are appropriate for the mission with various conditions and circumstances.

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Section: Introductionmentioning

confidence: 99%

Performance Examinations of Quadrotor with Sliding Mode Control-Neural Network on Various Trajectory and Conditions

Darwito¹,

Wahyuadnyana²

2022

MMEP

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“…The HYFLIERS (HYbrid FLying-rollIng with-snakE-aRm robot for contact inSpection) project was initiated to investigate pipe-inspection in refineries and industrial sites in the framework of a research and innovation action of the EU H2020 program [11]. One of the solutions that is being developed in the project is a hybrid robot that can fly to the pipe, land, and move along it to reach different inspection points, using a small manipulator arm with the ultrasonic sensor to reach the different measurement points around the pipe diameter [12,13].…”

Section: Introductionmentioning

confidence: 99%

A benchmark mechatronics platform to assess the inspection around pipes with variable pitch quadrotor for industrial sites

et al. 2021

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This paper investigates the inspection-of-pipe topic in a new framework, by rotation around a pipe, peculiar to industrial sites and refineries. The evolution of the ultimate system requires prototype design and preliminary tests. A new benchmark has been designed and built to mimic the rotation around a pipe, with the main purpose of assessing the different types of rotors and control systems. The benchmark control system presents a mechatronics package including mechanical design and machining, electronics and motor drive, motor-blade installation, computer programming, and control implementation. The benchmark is also modular, working with two modes of one-and two-degree-of-freedom (DoF), easily interchangeable. To cover a full rotation, conventional fixed-pitch drones fail to provide negative thrusts; nonetheless, variable-pitch (VP) rotor quadcopters can produce that in both directions. A closed-loop nonlinear optimal controller is chosen for real-time communication, so-called, "the statedependent Riccati equation (SDRE)" approach. Optimal control policies are challenging for experimentation though it has been successfully done in this report. The advantage of the VP is also illustrated in a rotation plus radial motion in comparison with fixed-pitch rotors while a wind gust disturbs the inspection task. The proposed VP system compensated the disturbance while the fixed-pitch was pushed away by the wind gust. The solution methods to the SDRE were mixed, a closed-form exact solution for the one-DoF system, and a numerical one for the two-DoF. Solving the Riccati online in each time step is a critical issue that was effectively solved by the implementation approach, through online communication with MATLAB software. Both simulations and experiments have been performed along with a discussion to prove the application of VP systems in rotary-motion pipe inspection.

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“…This reinforces the idea of conducting the inspection task once the aerial robot has landed, using a wheeled base [26] to move the robot along the area of interest. The synergistic combination of the wheeled base with the aerial platform has been already considered in works like [27] [28].…”

Section: Introductionmentioning

confidence: 99%

Aerial Manipulator With Rolling Base for Inspection of Pipe Arrays

Suárez¹,

Caballero²,

Garofano³

et al. 2020

IEEE Access

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This paper considers the inspection by contact of long arrays of pipe structures in hard-to-reach places, typical of chemical plants or oil and gas industries, presenting the design of a hybrid rolling-aerial platform capable of landing and moving along the pipes without wasting energy in the propellers during the inspection. The presented robot overcomes the limitation in terms of operation time and positioning accuracy in the application of flying robots to industrial inspection and maintenance tasks. The robot consists of a hexarotor platform integrating a rolling base with velocity and direction control, and a 5-DOF (degree of freedom) robotic arm supported by a 1-DOF linear guide system that facilitates the deployment of the arm in the array of pipes to inspect their contour once the platform has landed. Given a set of points to be inspected in different arrays of pipes, the path of the multirotor and the rolling platform is planned with a hybrid RRT* (Rapidlyexploring Random Tree) based algorithm that minimizes the energy consumption. The performance of the system is evaluated in an illustrative outdoor scenario with two arrays of pipes, using a laser tracking system to measure the position of the robot from the ground control station.

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Nonlinear Model Predictive Control for the Stabilization of a Wheeled Unmanned Aerial Vehicle on a Pipe

Cited by 6 publications

References 32 publications

Performance Examinations of Quadrotor with Sliding Mode Control-Neural Network on Various Trajectory and Conditions

Performance Examinations of Quadrotor with Sliding Mode Control-Neural Network on Various Trajectory and Conditions

A benchmark mechatronics platform to assess the inspection around pipes with variable pitch quadrotor for industrial sites

Aerial Manipulator With Rolling Base for Inspection of Pipe Arrays

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