Nonlinear Predictive Control of the Continuum and Hybrid Dynamics of a Suspended Deformable Cable for Aerial Pick and Place
Antonio Rapuano, Yaolei Shen, Federico Califano, Chiara Gabellieri, Antonio Franchi
AI summary
Problem
Existing UAV cable models neglect either continuum deformation or hybrid payload dynamics, leaving a gap in real-time, high-fidelity control for aerial manipulation tasks.
Approach
The authors discretize the cable's nonlinear PDEs and apply Proper Orthogonal Decomposition to extract a low-dimensional reduced-order model, which is then embedded in a hybrid nonlinear model predictive controller to handle payload attachment and detachment in real time.
Key results
- Hybrid PDE-based model capturing continuum cable dynamics and payload attachment/detachment events
- POD-based reduced-order model preserving dominant deformation modes across hybrid transitions
- Nonlinear MPC scheme enabling real-time trajectory tracking and oscillation suppression during manipulation
- Simulation-validated stability, efficiency, and robustness across varied operating conditions and constrained environments
Why it matters
Enables safe, precise aerial manipulation of flexible tethers in cluttered or hazardous environments, advancing real-time control for UAV-based payload delivery and inspection.
Abstract
This paper presents a framework for aerial manipulation of an extensible cable that combines a high-fidelity model based on partial differential equations (PDEs) with a reduced-order representation suitable for real-time control. The PDEs are discretized using a finite-difference method, and proper orthogonal decomposition is employed to extract a reduced-order model (ROM) that retains the dominant deformation modes while significantly reducing computational complexity. Based on this ROM, a nonlinear model predictive control scheme is formulated, capable of stabilizing cable oscillations and handling hybrid transitions such as payload attachment and detachment. Simulation results confirm the stability, efficiency, and robustness of the ROM, as well as the effectiveness of the controller in regulating cable dynamics under a range of operating conditions. Additional simulations illustrate the application of the ROM for trajectory planning in constrained environments, demonstrating the versatility of the proposed approach. Overall, the framework enables real-time, dynamics-aware control of unmanned aerial vehicles (UAVs) carrying suspended flexible cables.