TY - GEN
T1 - A Nonlinear Model Predictive Control Strategy for Water Sampling Using a UAV with a Slung Mechanism
AU - Panetsos, Fotis
AU - Karras, George C.
AU - Kyriakopoulos, Kostas J.
AU - Oikonomides, Odysseas
AU - Kolios, Panayiotis
AU - Eliades, Demetrios G.
AU - Panayiotou, Christos
N1 - Funding Information:
This work has been funded from the European Union’s Horizon 2020 Research and Innovation Program “Pathogen Contamination Emergency Response Technologies” (Patho-CERT) under grant agreement No. 883484.
Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - In this work, a nonlinear Model Predictive Control (NMPC) strategy is presented for stabilizing an Unmanned Aerial Vehicle (UAV) with a cable-suspended liquid collection device during water sampling from aquatic environments. Building upon our previous work, an NMPC scheme is developed which incorporates the disturbances acting on the multirotor and attains the accurate hovering of the vehicle while simultaneously state and input constraints are satisfied. Once the UAV is stabilized above the water surface, a custom electromechanical mechanism is activated to collect water samples. The performance of the proposed controller and the reliability of the sampling device are demonstrated through real-world experiments in a river with high water flow.
AB - In this work, a nonlinear Model Predictive Control (NMPC) strategy is presented for stabilizing an Unmanned Aerial Vehicle (UAV) with a cable-suspended liquid collection device during water sampling from aquatic environments. Building upon our previous work, an NMPC scheme is developed which incorporates the disturbances acting on the multirotor and attains the accurate hovering of the vehicle while simultaneously state and input constraints are satisfied. Once the UAV is stabilized above the water surface, a custom electromechanical mechanism is activated to collect water samples. The performance of the proposed controller and the reliability of the sampling device are demonstrated through real-world experiments in a river with high water flow.
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U2 - 10.1109/MED59994.2023.10185801
DO - 10.1109/MED59994.2023.10185801
M3 - Conference contribution
AN - SCOPUS:85167815972
T3 - 2023 31st Mediterranean Conference on Control and Automation, MED 2023
SP - 158
EP - 163
BT - 2023 31st Mediterranean Conference on Control and Automation, MED 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 31st Mediterranean Conference on Control and Automation, MED 2023
Y2 - 26 June 2023 through 29 June 2023
ER -