Suspended Load Path Tracking Control Strategy Using a Tilt-Rotor UAV

Santos, Marcelo A.; Rego, Brenner S.; Raffo, Guilherme V.; Ferramosca, Antonio

doi:10.1155/2017/9095324

Cited by 14 publications

(13 citation statements)

References 26 publications

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“…Finally, the complete mapping of the control inputs to generalized forces is obtained by summing up the contributions of the thrust forces, servomotor torques, and drag torques. Thus, from (29), (30), (34), (35), (39), and (40),…”

Section: Equations Of Motionmentioning

confidence: 98%

“…A cascade strategy composed of three levels of feedback linearization controllers is proposed in [14], for trajectory tracking of a tilt-rotor UAV with load swing attenuation. The problem of path tracking of a suspended load using a tilt-rotor UAV is solved in [30], in which a model predictive controller is designed, taking into account time-varying load's mass and rope's length, and estimating the load's position and orientation by means of an unscented Kalman filter. However, the state estimation is not guaranteed, and nothing can be said about the transient response of the closed-loop system.…”

Section: Introductionmentioning

confidence: 99%

“…The position and orientation of the latter are chosen as degrees of freedom of the system, yielding a nonlinear state-space representation with these variables among the system states. As shown in [30,31], this choice allows state-feedback control strategies to steer the trajectory of the load with respect to an inertial reference frame. In contrast to previous works, a reduced number of assumptions is made with respect to the physical system.…”

Section: Introductionmentioning

confidence: 99%

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Suspended load path tracking control using a tilt-rotor UAV based on zonotopic state estimation

Rego

Raffo

2019

Journal of the Franklin Institute

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This work addresses the problem of path tracking control of a suspended load using a tilt-rotor UAV. The main challenge in controlling this kind of system arises from the dynamic behavior imposed by the load, which is usually coupled to the UAV by means of a rope, adding unactuated degrees of freedom to the whole system. Furthermore, to perform the load transportation it is often needed the knowledge of the load position to accomplish the task. Since available sensors are commonly embedded in the mobile platform, information on the load position may not be directly available. To solve this problem in this work, initially, the kinematics of the multi-body mechanical system are formulated from the load's perspective, from which a detailed dynamic model is derived using the Euler-Lagrange approach, yielding a highly coupled, nonlinear state-space representation of the system, affine in the inputs, with the load's position and orientation directly represented by state variables. A zonotopic state estimator is proposed to solve the problem of estimating the load position and orientation, which is formulated based on sensors located at the aircraft, with different sampling times, and unknown-but-bounded measurement noise. To solve the path tracking problem, a discrete-time mixed H 2 /H ∞ controller with pole-placement constraints is designed with guaranteed time-response properties and robust to unmodeled dynamics, parametric uncertainties, and external disturbances. Results from numerical experiments, performed in a platform based on the Gazebo simulator and on a Computer Aided Design (CAD) model of the system, are presented to corroborate the performance of the zonotopic state estimator along with the designed controller.

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Section: Equations Of Motionmentioning

confidence: 98%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Suspended load path tracking control using a tilt-rotor UAV based on zonotopic state estimation

Rego

Raffo

2019

Journal of the Franklin Institute

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“…In [19], the trajectory tracking problem of the suspended load was solved through the design of control and state estimation strategies based on linearized, time-invariant state-space equations but did not allow yaw angle tracking, or the occurrence of changes in the load's mass and rope's length. This latter work was improved in [20], where an MPC based on a linear time-varying model was designed to perform trajectory tracking of the suspended load with stabilization of the tilt-rotor UAV when parametric uncertainties and external disturbances affect the load, the rope's length and total system mass vary during taking-off and landing, and the desired yaw angle changes throughout the trajectory. Nevertheless, the above control strategies, developed to solve the load transportation problem using a tilt-rotor UAV, are based on linearized models, which limit the domain of attraction of the closed-loop control system.…”

Section: Journal Of Advanced Transportationmentioning

confidence: 99%

A Load Transportation Nonlinear Control Strategy Using a Tilt-Rotor UAV

Raffo

Almeida

2018

Journal of Advanced Transportation

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This paper proposes a nonlinear control strategy to solve the trajectory tracking problem of a tilt-rotor Unmanned Aerial Vehicle (UAV) when transporting a suspended load. For the present study, the aim of the control system is to track a desired trajectory of the aircraft with load's swing-free, even in the presence of external disturbances, parametric uncertainties, unmodeled dynamics, and noisy position measurements with lower sampling frequency than the controller. The whole system modeling is obtained through the Euler-Lagrange formulation considering the dynamics of the tilt-rotor UAV coupled to the suspended load. As for the nonlinear control strategy, an inner-loop control is designed based on input-output feedback linearization combined with the dynamic extension approach to stabilize the attitude and altitude of the UAV assuming nonlinearities, while an outer-loop control law is designed for guiding the aircraft with reduced load swing. The linearized dynamics are controlled using linear mixed H 2 /H ∞ controllers with pole placement constraints. The solution is compared to two simpler control systems: the first one considers the load as a disturbance to the system but does not avoid its swing; the second one is a previous academic result with a three-level cascade strategy. Finally, in order to deal with the problem of position estimation in presence of unknown disturbances and noisy measurements with low sampling frequency, a Linear Kalman Filter with Unknown Inputs is designed for estimating both the aircraft's translational position and translational disturbances. Simulation results are carried out to corroborate the proposed control strategy.

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“…Recently, advanced motion control of marine vehicles has received significant attention due to its wide applications in hydrological monitoring, channel exclusion, search and rescue, biological detection, and so on [1][2][3][4][5][6][7]. Numerous motion control scenarios of marine vehicles have been considered including path following [8][9][10][11][12][13][14][15][16][17][18][19][20][21], path tracking [22,23], trajectory tracking [4,[24][25][26], and target tracking [2,[27][28][29][30][31][32][33][34]. Target tracking is to track a maneuvering target where no information about the target behavior is known in advance except its instantaneous motion.…”

Section: Introductionmentioning

confidence: 99%

Extended‐State‐Observer‐Based Collision‐Free Guidance Law for Target Tracking of Autonomous Surface Vehicles with Unknown Target Dynamics

2018

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This paper is concerned with the target tracking problem of an autonomous surface vehicle in the presence of a maneuvering target. The velocity information of target is totally unknown to the follower vehicle, and only the relative distance and angle between the target and follower are obtained. First, a reduced-order extended state observer is used to estimate the unknown relative dynamics due to the unavailable velocity of the target. Based on the reduced-order extended state observer, an antidisturbance guidance law for target tracking is designed. The input-to-state stability of the closed-loop target tracking guidance system is analyzed via cascade theory. Furthermore, the above result is extended to the case that collisions between the target and leader are avoided during tracking, and a collision-free target tracking guidance law is developed. The main feature of the proposed guidance law is twofold. First, the target tracking can be achieved without using the velocity information of the target. Second, collision avoidance can be achieved during target tracking. Simulation results show the effectiveness of the proposed antidisturbance guidance law for tracking a maneuvering target with the arbitrary bounded velocity.

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Suspended Load Path Tracking Control Strategy Using a Tilt-Rotor UAV

Cited by 14 publications

References 26 publications

Suspended load path tracking control using a tilt-rotor UAV based on zonotopic state estimation

Suspended load path tracking control using a tilt-rotor UAV based on zonotopic state estimation

A Load Transportation Nonlinear Control Strategy Using a Tilt-Rotor UAV

Extended‐State‐Observer‐Based Collision‐Free Guidance Law for Target Tracking of Autonomous Surface Vehicles with Unknown Target Dynamics

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