An NMPC Framework for Tracking and Releasing a Cable-suspended Load to a Ground Target Using a Multirotor UAV
Fotis Panetsos,George C. Karras,Kostas J. Kyriakopoulos,Fotis Panetsos,George C. Karras,Kostas J. Kyriakopoulos
In this work, we present a nonlinear Model Predictive Control (NMPC) scheme for tracking a ground target using a multirotor with a cable-suspended load. The NMPC framework relies on the dynamic model of the UAV with the suspended load and, hence, an estimate of the load state is obtained by fusing the measurements of a downward-facing camera and a load cell with an Unscented Kalman Filter (UKF). A...
