SEP-NMPC: Safety Enhanced Passivity-Based Nonlinear Model Predictive Control for a UAV Slung Payload System

Seyedreza Rezaei, Junjie Kang, Amaldev Haridevan +1

Model Predictive Control (MPC) is widely adopted for agile multirotor vehicles, yet achieving both stability and obstacle-free flight is particularly challenging when a payload is…