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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2507.15261 |
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Table of Contents:
- Capturing target objects using the quadrotor has gained increasing popularity in recent years, but most studies focus on capturing lightweight objects. The instantaneous contact force generated when capturing objects of a certain mass, along with the payload uncertainty after attachment, will pose significant challenges to the quadrotor control. This paper proposes a novel control architecture, namely Dual-Channel Adaptive Nonlinear Model Predictive Control (DCA-NMPC), which cascades a nonlinear model predictive control with two lower-level model reference adaptive controllers and can resist drastic impact and adapt to uncertain inertial parameters. Numerical simulation experiments are performed for validation.