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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish (US)
Title of host publication2023 31st Mediterranean Conference on Control and Automation, MED 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages158-163
Number of pages6
ISBN (Electronic)9798350315431
DOIs
StatePublished - 2023
Event31st Mediterranean Conference on Control and Automation, MED 2023 - Limassol, Cyprus
Duration: Jun 26 2023Jun 29 2023

Publication series

Name2023 31st Mediterranean Conference on Control and Automation, MED 2023

Conference

Conference31st Mediterranean Conference on Control and Automation, MED 2023
Country/TerritoryCyprus
CityLimassol
Period6/26/236/29/23

ASJC Scopus subject areas

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

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