06.2 - Flight Dynamics and Control (UAV related)
MODEL PREDICTIVE CONTROL DRIVEN AERIAL GRASPING WITH SOFT OPERATIONAL CONSTRAINTS
J. Novák ¹, J. Hanák¹, P. Chudý¹; ¹BUT, Czech Republic
Physical interaction of Unmanned Aerial Vehicles (UAVs) with it’s environment has the potential to enable manyrncomplex missions in both scientific and industrial domains. This paper deals with coupled Model PredictivernControl (MPC) for an UAV with attached robotic manipulator. Adaptive augmentation loop is used in the trajectoryrntracking scheme to compensate for the manipulator dynamics and increase precision of aerial graspingrntasks. Perception constraints ensure that the payload stays within camera field of view. Conducted numericalrnsimulations show effectiveness of the coupled MPC scheme for aerial grasping and its safety enhanced by thernimposed constraints.