Work

A Linear Complementarity based MPC for Aerial Physical Interaction

Year: 2025

Type: conference-paper

Abstract: This paper presents a general MPC-based control framework that includes the linear complementarity problem (LCP) for modeling the interaction forces of a mobile robot. To validate our approach, two case studies are considered: ($i$) an aerial robot that should reach a target point placed on a frictionless surface; and ($ii$) an aerial robot that should lift a cable-suspended mass, switching from a slack to a taut cable condition. The simulation results confirm the validity of our approach, and the ability of the LCP to model the interaction forces for an aerial platform.

Source: International Conference on Unmanned Aircraft Systems (ICUAS)

DOI: 10.1109/icuas65942.2025.11007833

Authors: Riccardo Fuser, Hai-Nguyen Nguyen, Gian Paolo Incremona, Marcello Farina, Marco Cognetti

Institutions: Centre National de la Recherche Scientifique, Laboratoire d'Analyse et d'Architecture des Systèmes, RMIT Vietnam, Politecnico di Milano

Language: English

Topic: Advanced Control Systems Optimization

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W4410770890

FWCI:

Cites: 23

Cited by:

Related to: 10