Multi-Quadrotor Distributed Load Transportation for Autonomous Agriculture Spraying Operations

Hegde, Aditya; Ghose, Debasish

doi:10.2514/1.g006608

Cited by 16 publications

(5 citation statements)

References 9 publications

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“…The motivation behind this work lies in the use of multiple agents/robots for optimal control [93][94][95]. There exists a vast literature on motion planning and control algorithm for multiple robots.…”

Section: Introductionmentioning

confidence: 99%

“…These applications generally require a high level of system effectiveness, which is the key motivation for using multi-agents. Multiple quadrotors will be able to perform a given task more efficiently in terms of time and cost, implement desired behaviours, easily perform tasks that a single robot cannot perform, improve performance and reliability, and have the advantages of high dispersion perception and actuation, compared to single agents [94][95][96]. Swarming quadrotors with collision avoidance execute collective behaviour to accomplish this tasks.…”

Section: Introductionmentioning

confidence: 99%

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Autonomous control of multiple quadrotors for collision‐free navigation

Raj

Raghuwaiya

Havea

et al. 2023

IET Control Theory & Appl

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This paper addresses the development of a set of novel autonomous control laws for the navigation of multiple mini or micro quadrotors in a workspace populated with cylindrical obstacles. To the authors' knowledge, this is the first time that such a set of control inputs for the autonomous control of multiple quadrotors and avoidance of cylindrical obstacles is being derived from a single Lyapunov function. The avoidance of the cylindrical obstacles is achieved via a Minimum Distance Technique that allows a quadrotor to avoid the closest point on the curved surface of a cylinder at every unit time. In addition, the novel controllers ensure a near-to-horizontal orientation of a quadrotor at every unit time and the hovering motion exhibited by the quadrotor in a neighborhood of its target. The hovering capability has been solved completely in this paper by solving the underactuatedness of the quadrotor which allows for the design of the maximum translational velocities needed for vertical take-off and landing, and hovering. This is important in applications where payloads are sensitive to acrobatic orientations. Computer simulations that mimic real-life scenarios using cylindrical towers as obstacles in a city-like environment illustrates the effectiveness of the controllers.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Autonomous control of multiple quadrotors for collision‐free navigation

Raj

Raghuwaiya

Havea

et al. 2023

IET Control Theory & Appl

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“…In recent years, Unmanned Aerial Vehicles (UAVs) have been developing toward miniaturization and intelligence, as a kind of aerial robot. In particular, due to their Vertical Take-Off and Landing (VTOL) and hovering capabilities, multi-rotor UAVs have been used in many military or civil fields, such as photography [ 1 ], mapping [ 2 ], agriculture [ 3 , 4 ], inspection [ 5 ], monitoring [ 6 , 7 ], and data collection [ 8 , 9 ]. However, these applications are utilized for observation and perception, which have no direct contact with the surrounding environment.…”

Section: Introductionmentioning

confidence: 99%

Robust Control Based on Adaptive Neural Network for the Process of Steady Formation of Continuous Contact Force in Unmanned Aerial Manipulator

Fang

Mao

Shen

et al. 2023

Sensors

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Contact force control for Unmanned Aerial Manipulators (UAMs) is a challenging issue today. This paper designs a new method to stabilize the UAM system during the formation of contact force with the target. Firstly, the dynamic model of the contact process between the UAM and the target is derived. Then, a non-singular global fast terminal sliding mode controller (NGFTSMC) is proposed to guarantee that the contact process is completed within a finite time. Moreover, to compensate for system uncertainties and external disturbances, the equivalent part of the controller is estimated by an adaptive radial basis function neural network (RBFNN). Finally, the Lyapunov theory is applied to validate the global stability of the closed-loop system and derive the adaptive law for the neural network weight matrix online updating. Simulation and experimental results demonstrate that the proposed method can stably form a continuous contact force and reduce the chattering with good robustness.

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“…In a real application, coupled attitude-pendulum oscillations should be considered because the cable cannot connect to the vehicle center. Similarly, the dynamics of the load swing and quadrotor attitudes were assumed to be uncoupled in Hegde and Ghose (2022), though the cables were not connected to the mass center of quadrotors. In addition, the dynamics of the distributed-mass load was ignored in literatures (Chopra and Ghose, 2022; Liang et al, 2022) because of the point-mass assumption.…”

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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Multi-Quadrotor Distributed Load Transportation for Autonomous Agriculture Spraying Operations

Cited by 16 publications

References 9 publications

Autonomous control of multiple quadrotors for collision‐free navigation

Autonomous control of multiple quadrotors for collision‐free navigation

Robust Control Based on Adaptive Neural Network for the Process of Steady Formation of Continuous Contact Force in Unmanned Aerial Manipulator

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

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