Model Predictive Control for an Aerial Tree-Pruning Robot Based on Alternating Direction Method of Multipliers
Obstacles of some trees within the electric power transmission line channel are of great threat to the electricity supply. Nowadays, the tasks of clearing threatening tree branches are still mostly operated by hand and simple tools. In this article, an aerial tree-pruning robot with a novel structur...
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| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2021-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2021/9981123 |
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| _version_ | 1832561448185757696 |
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| author | Changliang Xu Zhong Yang Hao Xu Qiuyan Zhang Dongsheng Zhou Kaiwen Lu Jiaming Han Luwei Liao |
| author_facet | Changliang Xu Zhong Yang Hao Xu Qiuyan Zhang Dongsheng Zhou Kaiwen Lu Jiaming Han Luwei Liao |
| author_sort | Changliang Xu |
| collection | DOAJ |
| description | Obstacles of some trees within the electric power transmission line channel are of great threat to the electricity supply. Nowadays, the tasks of clearing threatening tree branches are still mostly operated by hand and simple tools. In this article, an aerial tree-pruning robot with a novel structure is designed to improve the pruning operation efficiency and enhance the safety of the staff. However, the long arm of the pruning tool results in much higher rotational inertia of the robot, which brings difficulties for the robot to remain stable. Therefore, a control scheme based on model predictive control is proposed for the aerial tree-pruning robot and to deal with an uncertain system during the pruning operation period. One of the main contributions is that an ADMM (alternating direction method of multipliers) algorithm that solves the constrained QP (quadratic programming) is adopted to implement the model predictive control on embedded computers with limited computational power. The dynamic model of the pruning robot is firstly presented. Then, the control scheme of MPC for the pruning robot is presented. Moreover, the QP problem of robot control is addressed with ADMM. Finally, simulation experiments of attitude tracking as well as the antidisturbances capability verification have been conducted. Results for the system of aerial tree-pruning robot are given to demonstrate the effectiveness of the developed attitude tracking control scheme using ADMM-based MPC. |
| format | Article |
| id | doaj-art-a945a4c40a4e4d24adc862f83b05d90d |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-a945a4c40a4e4d24adc862f83b05d90d2025-02-03T01:25:01ZengWileyComplexity1076-27871099-05262021-01-01202110.1155/2021/99811239981123Model Predictive Control for an Aerial Tree-Pruning Robot Based on Alternating Direction Method of MultipliersChangliang Xu0Zhong Yang1Hao Xu2Qiuyan Zhang3Dongsheng Zhou4Kaiwen Lu5Jiaming Han6Luwei Liao7College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaElectric Power Research Institute of Guizhou Power Grid Co., Ltd., Guiyang 550002, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaObstacles of some trees within the electric power transmission line channel are of great threat to the electricity supply. Nowadays, the tasks of clearing threatening tree branches are still mostly operated by hand and simple tools. In this article, an aerial tree-pruning robot with a novel structure is designed to improve the pruning operation efficiency and enhance the safety of the staff. However, the long arm of the pruning tool results in much higher rotational inertia of the robot, which brings difficulties for the robot to remain stable. Therefore, a control scheme based on model predictive control is proposed for the aerial tree-pruning robot and to deal with an uncertain system during the pruning operation period. One of the main contributions is that an ADMM (alternating direction method of multipliers) algorithm that solves the constrained QP (quadratic programming) is adopted to implement the model predictive control on embedded computers with limited computational power. The dynamic model of the pruning robot is firstly presented. Then, the control scheme of MPC for the pruning robot is presented. Moreover, the QP problem of robot control is addressed with ADMM. Finally, simulation experiments of attitude tracking as well as the antidisturbances capability verification have been conducted. Results for the system of aerial tree-pruning robot are given to demonstrate the effectiveness of the developed attitude tracking control scheme using ADMM-based MPC.http://dx.doi.org/10.1155/2021/9981123 |
| spellingShingle | Changliang Xu Zhong Yang Hao Xu Qiuyan Zhang Dongsheng Zhou Kaiwen Lu Jiaming Han Luwei Liao Model Predictive Control for an Aerial Tree-Pruning Robot Based on Alternating Direction Method of Multipliers Complexity |
| title | Model Predictive Control for an Aerial Tree-Pruning Robot Based on Alternating Direction Method of Multipliers |
| title_full | Model Predictive Control for an Aerial Tree-Pruning Robot Based on Alternating Direction Method of Multipliers |
| title_fullStr | Model Predictive Control for an Aerial Tree-Pruning Robot Based on Alternating Direction Method of Multipliers |
| title_full_unstemmed | Model Predictive Control for an Aerial Tree-Pruning Robot Based on Alternating Direction Method of Multipliers |
| title_short | Model Predictive Control for an Aerial Tree-Pruning Robot Based on Alternating Direction Method of Multipliers |
| title_sort | model predictive control for an aerial tree pruning robot based on alternating direction method of multipliers |
| url | http://dx.doi.org/10.1155/2021/9981123 |
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