Geometric finite-time inner-outer loop trajectory tracking control strategy for quadrotor slung-load transportation

Gajbhiye, Sneha; Cabecinhas, David; Silvestre, Carlos; Cunha, Rita

doi:10.1007/s11071-021-07026-6

Cited by 28 publications

(9 citation statements)

References 33 publications

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“…The quadrotor‐slung‐load system was commanded to follow a reference trajectory during 60 s, with the load initially located around

x=0.5

y=0.5

m, and

z=-1.2

m, which means there is a substantial position error right from the get‐go, as illustrated in Figure 11. For analysis purposes, our proposed solution was compared to the techniques reported in References 9 and 11.…”

Section: Resultsmentioning

confidence: 99%

“…From (11), we move on to the second derivative of p, which can be computed, based on (A8) and (A11b), as…”

Section: A2 Positioning Controlmentioning

confidence: 99%

“…As reported in the recent survey on load transportation using multirotor UAVs, 3 one of the most standard requirements in cable‐suspended load transportation is to keep the load swing‐free for safety, care, and precise navigation reasons. This requirement, which is understandably harder to achieve when using only one vehicle, is typically met by involving some variation of reference trajectories being computed a priori , aiming at minimizing the load sway, using either dynamic programming 4 or input shaping, 5,6 or some variation of virtual control inputs being computed based on some normalized desired vector, which is often related to the relative position between the vehicle and the load, as seen in References 7‐11. Based on a different concept, the work in Reference 12 proposes a hierarchical adaptive controller on

\mathsf{SO}(3)

for quadrotor transportation of a payload suspended by four cables.…”

Section: Introductionmentioning

confidence: 99%

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High‐performance quadrotor slung load transportation with damped oscillations

Reis

Cabecinhas

et al. 2022

Intl J Robust & Nonlinear

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This paper presents a control solution for the problem of slung load transportation, with simultaneous damping of oscillations, using an underactuated autonomous quadrotor vehicle in the presence of external disturbances. The strategy put forward is divided into two parts: (i) resorting to an error definition that encompasses the pendular motion of the suspended load, a controller inspired in sliding‐mode theory is developed to compute a vectored thrust actuation that actively damps out the system's oscillations; (ii) two different approaches are illustrated for the stage of attitude tracking: one stemming from the conventional backstepping technique, which controls the vehicle in angular velocity commands; and another, also based on sliding‐mode theory, and built intrinsically in , that produces torque commands. The overall control scheme is proved to be robust and stable, with the load oscillations shown to be damped out in the process. Simulation and experimental results are presented in a trajectory tracking scenario to validate and assess the robustness and efficiency of the proposed technique.

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“…The quadrotor‐slung‐load system was commanded to follow a reference trajectory during 60 s, with the load initially located around

x=0.5

y=0.5

m, and

z=-1.2

Section: Resultsmentioning

confidence: 99%

“…From (11), we move on to the second derivative of p, which can be computed, based on (A8) and (A11b), as…”

Section: A2 Positioning Controlmentioning

confidence: 99%

\mathsf{SO}(3)

for quadrotor transportation of a payload suspended by four cables.…”

Section: Introductionmentioning

confidence: 99%

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High‐performance quadrotor slung load transportation with damped oscillations

Reis

Cabecinhas

et al. 2022

Intl J Robust & Nonlinear

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“…Numerous scholars have studied dynamic modeling of single-quadrotor slung a load by using the Newton’s method (Estevez et al, 2021; Gajbhiye et al, 2022; Yu et al, 2019; Yu et al, 2022a), Lagrangian method (Alkomy and Shan, 2021; Yang and Xian, 2019; Liang et al, 2019), and Kane’ method (Zhu and Huang, 2021; Zhu et al, 2022). However, operating a cooperative task with twin-sides coupled dynamics was not considered in these literatures because of the single quadrotor.…”

Section: Introductionmentioning

confidence: 99%

Dynamics and control of dual-quadrotors slung a slender beam with attitude-pendulum coupling effects

Huang

Gnezdilov

2023

Journal of Vibration and Control

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The dual-quadrotors slung system may be utilized in the handling service of heavy and bulky loads. However, the coupled oscillations between the quadrotor attitudes and suspended load exhibit complicated dynamic behaviors, which degrade the safety and efficiency of the transport system. Although many works have been focused on the multiple quadrotors suspending a load, those prior studies did not consider the coupling effects between the quadrotor attitudes and the cable pendulum. This paper established a nonlinear dynamic model of dual-quadrotors carrying a slender beam undergoing planar motions, which described the coupled attitude-pendulum oscillations. Then a frequency estimator was resulted from the system parameters for investigating the dynamics. In addition, a novel combined modified model-following control and discontinuous piecewise smoother was proposed to suppress oscillations. The technical results in the simulations not only describe the dynamic behavior of the analytical model but also validate the effectiveness of the control method.

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“…S. Harshavarthini uses Lyapunov-Krasovskii functional to design a finite-time fault-tolerant controller for the attitude of the QUAV [27]. S. Gajbhiye considered the finite-time control of the slung payload transportation of QUAV and proposed a geometric finite-time inner-outer loop control strategy [28]. Z. Wenwu uses the homogeneous theory to design the finite time position controller and the finite-time attitude controller of QUAV so that QUAV can realize hovering control in a finite time [29].…”

Section: Introductionmentioning

confidence: 99%

Image-based finite-time visual servoing of a quadrotor for tracking a moving target

Yuan

2022

Nonlinear Dyn

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This paper proposes an image-based visual servoing control method for a moving target of a quadrotor UAV (QUAV). Firstly, the dynamic image model with moving target parameters is established based on the image moment features in the virtual camera plane. For the unpredictability of the moving target in space, we use a high-order differentiator to estimate the state parameters of the moving target. In order to solve the problem of image depth information caused by a monocular camera, we derive a nonlinear finite-time linear velocity observer from the virtual image plane, which can not only estimate the linear velocity information of QUAV but also avoid the measurement of image depth. Based on the above information, we design the global finite-time controller and use Lyapunov theory to prove the finite-time stability of the system. Finally, the numerical simulations verify the convergence of the proposed control scheme, and the ROS gazebo simulations demonstrate the improved performance of the proposed control scheme in tracking error.

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Geometric finite-time inner-outer loop trajectory tracking control strategy for quadrotor slung-load transportation

Cited by 28 publications

References 33 publications

High‐performance quadrotor slung load transportation with damped oscillations

High‐performance quadrotor slung load transportation with damped oscillations

Dynamics and control of dual-quadrotors slung a slender beam with attitude-pendulum coupling effects

Image-based finite-time visual servoing of a quadrotor for tracking a moving target

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