Study on payload stabilization method with the slung-load transportation system using a quad-rotor

Lee, Byung-Yoon; Lee, Hae-In; Yoo, Dongwan; Moon, Gun-Hee; Lee, Dong-Yeon; Kim, Yun young

doi:10.1109/ecc.2015.7330849

Cited by 5 publications

(4 citation statements)

References 8 publications

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“…Over the past few years, researchers have been increasingly drawn to the Model Predictive Controller (MPC) as a means to attain optimal trajectories during payload transportation [122]; an MPC is a control strategy well suited for designing a distributed and multi-level control system, where the reference trajectories for UAVs are computed as a solution to a constrained optimization problem. For instance, Lee et al [123] combined an MPC with a Proportional Derivative (PD) controller using the swinging-load-angle error as an input and correcting the translational controller along a planned trajectory. Estevez et al [44] proved that this control strategy is still valid for a payload modeled as a double pendulum.…”

Section: Optimal Trajectory Followingmentioning

confidence: 99%

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: Optimal Trajectory Followingmentioning

confidence: 99%

Review of Aerial Transportation of Suspended-Cable Payloads with Quadrotors

Estevez,

Garate,

Lopez-Guede

et al. 2024

Drones

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“…To verify the modeling, comparison with UKE is suggested [9][10]. Among all the previous works, modeling using UKE considered the most general case when the strings are attached to the different point with center of mass, and thus appropriate to be compared with the model suggested in this thesis.…”

Section: Verification With Udwadia-kalaba Equationmentioning

confidence: 99%

“…Since the number of system variables is large and the model is complicated, model reduction is not easy. Our previous work [10] using UKE method, therefore, was not able to apply LQ-based controllers. To circumvent the controllability problem, it is suggested to utilize the combination of spherical coordinates and Cartesian coordinates [11].…”

Section: Introductionmentioning

confidence: 98%

Parameter-robust linear quadratic Gaussian technique for multi-agent slung load transportation

Lee

Yoo

Lee

et al. 2017

Aerospace Science and Technology

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This paper copes with parameter-robust controller design for transportation system by multiple unmanned aerial vehicles. The transportation is designed in the form of string connection. Minimal state-space realization of slung-load dynamics is obtained by Newtonian approach with spherical coordinates. Linear quadratic Gaussian / loop transfer recovery (LQG/LTR) is implemented to control the position and attitude of all the vehicles and payloads. The controllers robustness against variation of payload mass is improved using parameter-robust linear quadratic Gaussian (PRLQG) method. Numerical simulations are conducted with several transportation cases. The result verifies that LQG/LTR shows fast performance while PRLQG has its strong point in robustness against system variation.

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“…In the literature, extensive studies have been published to model the suspended load-bearing rotary-wing UAV systems. Modeling was carried out using the Udwadia-Kalaba Equations in Goodarzi et al 18 and Almeida and Raffo, 19 the Euler-Lagrange approach in Lee et al 20 and Lee et al, 21 the Newton-Euler method in Jain, 22 and the Kane method in Klausen et al 23 In Pizetta et al, 24 the system dynamics are defined as the second-order Euler-Lagrange model while ignoring the aerodynamic effects. In Barikbin and Fakharian, 25 the Euler-Lagrange method was used, but the load’s motion was assumed to be planar rather than 3-dimensional.…”

Section: Introductionmentioning

confidence: 99%

Control structure design with constraints for a slung load quadrotor system

Ergezer

Leblebi̇ci̇oğlu

2023

Measurement and Control

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We propose a control structure for a quadrotor carrying a slung load with swing-angle constraints. This quadrotor is supposed to pass through the waypoints at specified speeds. First, a cascaded PID autopilot is designed, which adaptively gives attention to position and speed requirements as a function of their errors. Its parameters are found from an optimization problem solved using the PSO algorithm. Second, this controller’s performance is improved by adding the Complementary Controller employing an ANN. 5. Training data for the ANN is created by solving optimal control problems. The ANN is activated when the swing angle constraint is about to be violated. It is trained using optimal control values corresponding to the cases where the swing angle falls in a particular band about the upper swing angle constraint. Simulations are performed in a MATLAB environment. Finally, some of the simulation results are validated on a physical system.

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Study on payload stabilization method with the slung-load transportation system using a quad-rotor

Cited by 5 publications

References 8 publications

Review of Aerial Transportation of Suspended-Cable Payloads with Quadrotors

Review of Aerial Transportation of Suspended-Cable Payloads with Quadrotors

Parameter-robust linear quadratic Gaussian technique for multi-agent slung load transportation

Control structure design with constraints for a slung load quadrotor system

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