Stewart-Inspired Posture Control for a UAV Undertaking Platform Based on Dynamic Model Predictive Control

In order to improve the accuracy and dynamic characteristics of unmanned aerial vehicle (UAV) undertaking platform with Stewart mechanism, a posture control strategy based on dynamic model predictive control algorithm is proposed in this paper. First, the dynamics of the Stewart platform is analyzed, and the state space expression of the dynamic model of the Stewart platform is established. Then, the algorithm based on the dynamic model predictive control is proposed, and the model predictive controller is designed. Finally, a simulation model of the UAV undertaking platform is established, the parameters of the model predictive controller are tuned, and the undertaking platform pose control simulation experiment is carried out. Physical experiments are performed to compare the control effects of traditional PID control and dynamics-based model predictive control on the undertaking platform.The results show that the model predictive control method based on dynamics can effectively improve the control accuracy and dynamic characteristics of the UAV undertaking platform.