Model predictive UAV-tool interaction control enhanced by external forces

Koçer, Başaran Bahadır; Tjahjowidodo, Tegoeh; Seet, Gerald

doi:10.1016/j.mechatronics.2019.01.004

Cited by 30 publications

(17 citation statements)

References 35 publications

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“…Use of receding horizon (or rolling horizon)-based methods, namely model predictive control (MPC), could be a method of choice for future investigations. The MPC procedure reduces the computation time by using a small horizon and creating an artificial closed loop system [58,59]. Since the price forecast may be imprecise and/or unavailable for long time frames, one may also prefer MPC.…”

Section: Discussionmentioning

confidence: 99%

Ageing and Efficiency Aware Battery Dispatch for Arbitrage Markets Using Mixed Integer Linear Programming †

et al. 2019

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To achieve maximum profit by dispatching a battery storage system in an arbitrage operation, multiple factors must be considered. While revenue from the application is determined by the time variability of the electricity cost, the profit will be lowered by costs resulting from energy efficiency losses, as well as by battery degradation. In this paper, an optimal dispatch strategy is proposed for storage systems trading on energy arbitrage markets. The dispatch is based on a computationally-efficient implementation of a mixed-integer linear programming method, with a cost function that includes variable-energy conversion losses and a cycle-induced battery capacity fade. The parametrisation of these non-linear functions is backed by in-house laboratory tests. A detailed analysis of the proposed methods is given through case studies of different cost-inclusion scenarios, as well as battery investment-cost scenarios. An evaluation with a sample intraday market data set, collected throughout 2017 in Germany, offers a potential monthly revenue of up to 8762 EUR/MWh cap installed capacity, without accounting for the costs attributed to energy losses and battery degradation. While this is slightly above the revenue attainable in a reference application—namely, primary frequency regulation for the same sample month (7716 EUR/MWh cap installed capacity)—the situation changes if costs are considered: The optimisation reveals that losses in battery ageing and efficiency reduce the attainable profit by up to 36% for the most profitable arbitrage use case considered herein. The findings underline the significance of considering both ageing and efficiency in battery system dispatch optimisation.

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Section: Discussionmentioning

confidence: 99%

Ageing and Efficiency Aware Battery Dispatch for Arbitrage Markets Using Mixed Integer Linear Programming †

et al. 2019

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“…4. To address Problem 1.3, the system parameters are adopted from [54], where its size and subcomponents are feasible to conduct the inspection operation. The UAV is marked to have experimented in motion capture lab, which is based on the Optitrack system with 8 cameras providing localization at 240 Hz.…”

Section: Methodsmentioning

confidence: 99%

Inspection-while-flying: An autonomous contact-based nondestructive test using UAV-tools

Koçer

Tjahjowidodo

Pratama

et al. 2019

Automation in Construction

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“…For this operation, Gauss-Legendre integrator of order 4 is preferred with 2 steps per shooting interval and the grid size is chosen 10 ms. Moreover, the physical system parameters are adopted from [29]. The process noise is indicated by…”

Section: B Augmented Formulationmentioning

confidence: 99%

Aerial Robot Control in Close Proximity to Ceiling: A Force Estimation-based Nonlinear MPC

Koçer

Tiryaki

Pratama

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Being motivated by ceiling inspection applications via unmanned aerial vehicles (UAVs) which require close proximity flight to surfaces, a systematic control approach enabling safe and accurate close proximity flight is proposed in this work. There are two main challenges for close proximity flights: (i) the trust characteristics varies drastically for the different distance from the ceiling which results in a complex nonlinear dynamics; (ii) the system needs to consider physical and environmental constraints to safely fly in close proximity. To address these challenges, a novel framework consisting of a constrained optimization-based force estimation and an optimization-based nonlinear controller is proposed. Experimental results illustrate that the performance of the proposed control approach can stabilize UAV down to 1 cm distance to the ceiling. Furthermore, we report that the UAV consumes up to 12.5% less power when it is operated 1 cm distance to ceiling, which is promising potential for more battery-efficient inspection flights.

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Model predictive UAV-tool interaction control enhanced by external forces

Cited by 30 publications

References 35 publications

Ageing and Efficiency Aware Battery Dispatch for Arbitrage Markets Using Mixed Integer Linear Programming †

Ageing and Efficiency Aware Battery Dispatch for Arbitrage Markets Using Mixed Integer Linear Programming †

Inspection-while-flying: An autonomous contact-based nondestructive test using UAV-tools

Aerial Robot Control in Close Proximity to Ceiling: A Force Estimation-based Nonlinear MPC

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