Stabilization of a wheeled VToL on a pipe

Stabilizing a wheeled unmanned aerial vehicle on a pipe is an application in oil and gas facilities for nondestructive measurements. After the derivation of the dynamic model of the system, a discrete-time nonlinear model predictive controller is designed over a finite horizon. The analysis of the asymptotic stability of the designed controller is carried out. The solution can also be employed for aerial manipulators with snake robots.

Proposed solutions:

• S. Zhao, F. RUGGIERO, G.A. Fontanelli, V. Lippiello, Z. Zhu, B. Siciliano, Nonlinear model predictive control for the stabilization of a wheeled unmanned aerial vehicle on a pipe, in IEEE Robotics and Automation Letters, vol. 4, n. 4, pp. 4314-4321, 2019, DOI: 10.1109/LRA.2019.2931821.