Control Architecture for a Quadrotor Transporting a Cable-Suspended Load of Uncertain Mass

Outeiro, Pedro; Cardeira, Carlos; Oliveira, Paulo

doi:10.3390/drones7030201

Cited by 5 publications

(4 citation statements)

References 20 publications

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“…When validation is indoors, wind is proven not to be the most relevant disturbance, but most researchers work with unknown payload masses or variations in the planned path. Some examples of these disturbances are in [107,114,144].…”

Section: Trends In Technologymentioning

confidence: 99%

“…Particularly in multi-UAV systems, more real experimentation is required. References:[39,40,46,48,50,51,53,89,144] Flexible cable Flexible cables enhance some dynamic properties in simulations. The most used models are the spring-and-damping model and the cable formed by a series of weighted extensible segments of different sizes, connected with spherical joints.…”

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confidence: 99%

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Review of Aerial Transportation of Suspended-Cable Payloads with Quadrotors

Estevez,

Garate,

Lopez-Guede

et al. 2024

Drones

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Payload transportation and manipulation by rotorcraft drones are receiving a lot of attention from the military, industrial and logistics research areas. The interactions between the UAV and the payload, plus the means of object attachment or manipulation (such as cables or anthropomorphic robotic arms), may be nonlinear, introducing difficulties in the overall system performance. In this paper, we focus on the current state of the art of aerial transportation systems with suspended loads by a single UAV and a team of them and present a review of different dynamic cable models and control systems. We cover the last sixteen years of the existing literature, and we add a discussion for evaluating the main trends in the referenced research works.

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Section: Trends In Technologymentioning

confidence: 99%

mentioning

confidence: 99%

Review of Aerial Transportation of Suspended-Cable Payloads with Quadrotors

Estevez,

Garate,

Lopez-Guede

et al. 2024

Drones

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“…The quadrotor suspension system is a versatile technology with diverse applications [1,2], including freight transport [3][4][5][6], agriculture, forestry, crop protection, and environmental sensing [7]. This system is highly regarded for its exceptional flight flexibility, cost effectiveness, and ease of loading and unloading [8][9][10][11].…”

Section: Introductionmentioning

confidence: 99%

Coordinated Control of Quadrotor Suspension Systems Based on Consistency Theory

Chen,

Fan,

Wang

et al. 2023

Aerospace

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This paper designs a cooperative control method for the multi-quadrotor suspension system based on consistency theory and realizes the cooperative formation trajectory tracking control of the multi-quadrotor suspension system by designing a consistent formation cooperative algorithm of virtual piloting and a nonlinear controller. First, a new quadrotor suspension system model is established based on the traditional quadrotor model using the Newton–Euler method. This model can accurately reflect the influence of the load on the quadrotor while obtaining the swing of the load. Then, the vertical and horizontal positions are designed separately based on the quadrotor motion characteristics, and the formation algorithm based on the virtual pilot consistency theory ensures that the final convergence of each position is consistent. An integral backstepping controller and an integral backstepping sliding mode controller are designed for quadrotor position, attitude, and load swing control to achieve accurate and fast quadrotor trajectory tracking control while reducing load swing. The stability of all the controllers is demonstrated using Lyapunov functions. Finally, a multi-quadrotor suspension system formation cooperative simulation experiment is designed to verify the designed control method.

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“…The problem of a single rotorcraft carrying a load has been addressed in the literature considering minimal load swing, with a number of works investigating different control approaches [5][6][7][8][9][10][11][12][13][14][15][16][17][18]. In [16], for example, the transportation problem is solved by an energy-based control strategy and a nonlinear feedback controller based on Linear Matrix Inequality (LMI).…”

Section: Introductionmentioning

confidence: 99%

An Improved Method for Swing State Estimation in Multirotor Slung Load Applications

de Angelis,

Giulietti

2023

Drones

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A method is proposed to estimate the swing state of a suspended payload in multirotor drone delivery scenarios. Starting from the equations of motion of the coupled slung load system, defined by two point masses interconnected by a rigid link, a recursive algorithm is developed to estimate cable swing angle and rate from acceleration measurements available from an onboard Inertial Measurement Unit, without the need for extra sensors. The estimation problem is addressed according to the Extended Kalman Filter structure. With respect to the classical linear formulation, the proposed approach allows for improved estimation accuracy in both stationary and maneuvering flight. As an additional contribution, filter performance is enhanced by accounting for aerodynamic disturbance force, which largely affects the estimation accuracy in windy flight conditions. The validity of the proposed methodology is demonstrated as follows. First, it is applied to an octarotor platform where propellers are modeled according to blade element theory and the load is suspended by an elastic cable. Numerical simulations show that estimated swing angle and rate represent suitable feedback variables for payload stabilization, with benefits on flying qualities and energy demand. The algorithm is finally implemented on a small-scale quadrotor and is investigated through an outdoor experimental campaign, thus proving the effectiveness of the approach in a real application scenario.

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Control Architecture for a Quadrotor Transporting a Cable-Suspended Load of Uncertain Mass

Cited by 5 publications

References 20 publications

Review of Aerial Transportation of Suspended-Cable Payloads with Quadrotors

Review of Aerial Transportation of Suspended-Cable Payloads with Quadrotors

Coordinated Control of Quadrotor Suspension Systems Based on Consistency Theory

An Improved Method for Swing State Estimation in Multirotor Slung Load Applications

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