Using Constrained Model Predictive Control to Control Two Quadrotors Transporting a Cable-Suspended Payload

摘要

This paper applies a constrained MPC controller to control two quadrotors which carry a cable-suspended payload together. The system dynamics is derived from the Euler-Lagrange equation. Given the dynamics complexity, a linear MPC controller is employed for a control task, which is to make the payload to track a desired trajectory while stabilising the two quadrotors. The constraints on quadrotor control signals and payload positions are taken into consideration. The constrained controller could be useful for practical control systems. The simulation results are provided to evaluate the control performance against an LQR controller.