Explicit Model Predictive Control for a Tiltrotor UAV in Cargo Transportation Tasks

  • Richard Andrade Federal University of Minas Gerais
  • Antonio Ferramosca CONICET - UTN FRRQ
  • Julio E. Normey-Rico Federal University of Santa Catarina
  • Guilherme V. Raffo Universidade Federal de Minas Gerais
Keywords: Tilt-rotor UAV, Load transportation, Explicit MPC


This paper deals with the trajectory tracking problem of a tilt-rotor unmanned aerial vehicle carrying a suspended load. An explicit model predictive control (eMPC) based on multiparametric optimization is used to derive optimal control laws which could be implemented in an embedded system. The eMPC is designed based on the nominal linearized error model of the system, which is obtained around a generic trajectory. The optimal control problem (OCP) is solved taking into account input and state constraints. Additionally, a terminal cost is considered to guarantee stability. Euler-Lagrange formulation is used to derive the multibody non-linear dynamic model. Numerical experiments are performed to evaluate the proposed controller when the system is aected by constant disturbances at different instants of time and parametric uncertainties.