Technical activities execution with a TiltRotor UAS employing explicit model predictive control

Christos Papachristos, Kostas Alexis, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

An innovative application field for Unmanned Aerial Systems (UASs) is the subject of this paper. The aerial robotic execution of technical activities based on autonomous aerial platforms poses important challenges, as realistic industrial activities are physically demanding. Typical environment-modifying tasks, such as surface grinding, require the exertion of significant forces in order to be successfully executed. For such purposes, the exploitation of thrust-vectoring actuation is proposed, and a methodology for achieving longitudinal force exertion while retaining safe operation is developed, relying on the platform's exceptional actuation features, a piecewise-affine representation of the system modes, and an explicit model predictive control scheme. The experimental demonstration of the proposed strategy is conducted utilizing a compound UAS, consisting of a high-end tilt-rotor vehicle, mounted with an end-effector which carries a motorized tool customized for surface grinding tasks.

Original languageEnglish (US)
Title of host publication19th IFAC World Congress IFAC 2014, Proceedings
EditorsEdward Boje, Xiaohua Xia
PublisherIFAC Secretariat
Pages11036-11042
Number of pages7
ISBN (Electronic)9783902823625
DOIs
StatePublished - 2014
Event19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Cape Town, South Africa
Duration: Aug 24 2014Aug 29 2014

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume19
ISSN (Print)1474-6670

Other

Other19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
CountrySouth Africa
CityCape Town
Period8/24/148/29/14

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Papachristos, C., Alexis, K., & Tzes, A. (2014). Technical activities execution with a TiltRotor UAS employing explicit model predictive control. In E. Boje, & X. Xia (Eds.), 19th IFAC World Congress IFAC 2014, Proceedings (pp. 11036-11042). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 19). IFAC Secretariat. https://doi.org/10.3182/20140824-6-za-1003.02692