A Nonlinear Model Predictive Control Strategy for Water Sampling Using a UAV with a Slung Mechanism

Fotis Panetsos; George C. Karras; Kostas J. Kyriakopoulos; Odysseas Oikonomides; Panayiotis Kolios; Demetrios G. Eliades; Christos Panayiotou

doi:10.1109/MED59994.2023.10185801

A Nonlinear Model Predictive Control Strategy for Water Sampling Using a UAV with a Slung Mechanism

Fotis Panetsos, George C. Karras, Kostas J. Kyriakopoulos, Odysseas Oikonomides, Panayiotis Kolios, Demetrios G. Eliades, Christos Panayiotou

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

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.

Original language	English (US)
Title of host publication	2023 31st Mediterranean Conference on Control and Automation, MED 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	158-163
Number of pages	6
ISBN (Electronic)	9798350315431
DOIs	https://doi.org/10.1109/MED59994.2023.10185801
State	Published - 2023
Event	31st Mediterranean Conference on Control and Automation, MED 2023 - Limassol, Cyprus Duration: Jun 26 2023 → Jun 29 2023

Publication series

Name	2023 31st Mediterranean Conference on Control and Automation, MED 2023

Conference

Conference	31st Mediterranean Conference on Control and Automation, MED 2023
Country/Territory	Cyprus
City	Limassol
Period	6/26/23 → 6/29/23

ASJC Scopus subject areas

Aerospace Engineering
Automotive Engineering
Safety, Risk, Reliability and Quality
Control and Optimization

Access to Document

10.1109/MED59994.2023.10185801

Cite this

Panetsos, F., Karras, G. C., Kyriakopoulos, K. J., Oikonomides, O., Kolios, P., Eliades, D. G., & Panayiotou, C. (2023). A Nonlinear Model Predictive Control Strategy for Water Sampling Using a UAV with a Slung Mechanism. In 2023 31st Mediterranean Conference on Control and Automation, MED 2023 (pp. 158-163). (2023 31st Mediterranean Conference on Control and Automation, MED 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MED59994.2023.10185801

A Nonlinear Model Predictive Control Strategy for Water Sampling Using a UAV with a Slung Mechanism. / Panetsos, Fotis; Karras, George C.; Kyriakopoulos, Kostas J. et al.
2023 31st Mediterranean Conference on Control and Automation, MED 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 158-163 (2023 31st Mediterranean Conference on Control and Automation, MED 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Panetsos, F, Karras, GC, Kyriakopoulos, KJ, Oikonomides, O, Kolios, P, Eliades, DG & Panayiotou, C 2023, A Nonlinear Model Predictive Control Strategy for Water Sampling Using a UAV with a Slung Mechanism. in 2023 31st Mediterranean Conference on Control and Automation, MED 2023. 2023 31st Mediterranean Conference on Control and Automation, MED 2023, Institute of Electrical and Electronics Engineers Inc., pp. 158-163, 31st Mediterranean Conference on Control and Automation, MED 2023, Limassol, Cyprus, 6/26/23. https://doi.org/10.1109/MED59994.2023.10185801

Panetsos F, Karras GC, Kyriakopoulos KJ, Oikonomides O, Kolios P, Eliades DG et al. A Nonlinear Model Predictive Control Strategy for Water Sampling Using a UAV with a Slung Mechanism. In 2023 31st Mediterranean Conference on Control and Automation, MED 2023. Institute of Electrical and Electronics Engineers Inc. 2023. p. 158-163. (2023 31st Mediterranean Conference on Control and Automation, MED 2023). doi: 10.1109/MED59994.2023.10185801

Panetsos, Fotis ; Karras, George C. ; Kyriakopoulos, Kostas J. et al. / A Nonlinear Model Predictive Control Strategy for Water Sampling Using a UAV with a Slung Mechanism. 2023 31st Mediterranean Conference on Control and Automation, MED 2023. Institute of Electrical and Electronics Engineers Inc., 2023. pp. 158-163 (2023 31st Mediterranean Conference on Control and Automation, MED 2023).

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A Nonlinear Model Predictive Control Strategy for Water Sampling Using a UAV with a Slung Mechanism

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