A Linear Complementarity based MPC for Aerial Physical Interaction

This paper presents a general MPC-based control framework that includes the linear complementarity problem (LCP) for modeling the interaction forces of a mobile robot. To validate our approach, two case studies are considered: (<tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$i$</tex>) an aerial robot that should reach a target point placed on a frictionless surface; and (<tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$ii$</tex>) an aerial robot that should lift a cable-suspended mass, switching from a slack to a taut cable condition. The simulation results confirm the validity of our approach, and the ability of the LCP to model the interaction forces for an aerial platform.