Robotics, automation, websites & more

Stabilizing a wheeled unmanned aerial vehicle on a pipe is an application in oil and gas facilities for nondestructive measurements. After the derivation of the dynamic model of the system, a discrete-time nonlinear model predictive controller is designed over a finite horizon. The analysis of the asymptotic stability of the designed controller is carried out. The solution can also be employed for aerial manipulators with snake robots.

Proposed solutions: