Two-time-scale control of a multirotor aircraft for suspended load transportation

Angelis, De; Giulietti, Fabrizio; Pipeleers, Goele

doi:10.1016/j.ast.2018.10.012

Cited by 44 publications

(16 citation statements)

References 22 publications

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“…It is easy to verify that the quad-rotor attitude system given by formulas (18) and (22) satisfies A1 and A2. Then the problems need to be addressed here are stated as: 1.…”

Section: B Problem Propositiomentioning

confidence: 99%

“…That is, the unmodeled dynamics F u , the sudden changes F s from external circumstance, and the parameter perturbations. They are part of the unknown term F a in formula (22). That is,…”

Section: Application Scenariomentioning

confidence: 99%

“…Both of the two connection methods have their own application scenarios and advantages. But, according to the references reviewed by the authors, existing researches mainly focused on the control of quad-rotor with flexible connection and dedicated to reduce oscillation caused by swing angle between the suspended stuff and the aircraft [22]- [32]. Only a few literatures studied flight control of the quad-rotors using rigid-connection and mainly focused on the unknown masses of the payloads.…”

Section: Introductionmentioning

confidence: 99%

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Disturbance Attenuation Predictive Optimal Control for Quad-Rotor Transporting Unknown Varying Payload

et al. 2020

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Quad-rotor is very suitable for payload transportation due to the merits of high maneuverability and free hovering. However, the unknown varying payloads can cause negative influences that act in forms of persistent disturbances and sudden changes, damaging flight performance especially the attitude stability seriously. Targeting the persistent disturbances, an entirely novel disturbance estimator (DE) which can estimate non-smooth disturbances in a highly accurate manner for feedback compensation is proposed in this paper. To deal with the sudden changes from prescribed references and the payloads that may induce too large overshoots and input surging, a type of predictive optimal controller, which considers tracking errors and their changing rates of a class of linear multiple-input-multiple-output systems, is developed. Simulation results show that the system enhanced by the DE has better control performance than the ones enhanced by the commonly used extended state observer or nonlinear disturbance observer. Compared with the typical control approaches, the proposed control scheme enables the quad-rotor attitude system more stable performance and more ideal inputs on both persistent disturbance and sudden change resisting during payload transportation. INDEX TERMS Quad-rotor, payload transportation, disturbance attenuation, predictive optimal control.

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“…It is easy to verify that the quad-rotor attitude system given by formulas (18) and (22) satisfies A1 and A2. Then the problems need to be addressed here are stated as: 1.…”

Section: B Problem Propositiomentioning

confidence: 99%

“…That is, the unmodeled dynamics F u , the sudden changes F s from external circumstance, and the parameter perturbations. They are part of the unknown term F a in formula (22). That is,…”

Section: Application Scenariomentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Disturbance Attenuation Predictive Optimal Control for Quad-Rotor Transporting Unknown Varying Payload

et al. 2020

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“…The experimental results demonstrated superior system performance and robustness in achieving good position control and suppressing the payload swing motion quickly and effectively. de Angelis et al [182] also suggested a novel control strategy based on an artificial two-time-scale separation of system dynamic modes to stabilize a multirotor holding a suspended load. The simulated results showed the suitability of the proposed strategy for practical application in various operational scenarios.…”

Section: Slung Load Motion Suppressionmentioning

confidence: 99%

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

2020

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This paper presents a review of the various control strategies that have been conducted to address and resolve several challenges for a particular category of unmanned aerial vehicles (UAVs), the emphasis of which is on the rotorcraft or rotary-wing systems. Initially, a brief overview of the important relevant definitions, configurations, components, advantages/disadvantages, and applications of the UAVs is first introduced in general, encompassing a wide spectrum of the flying machines. Subsequently, the focus is more on the two most common and versatile rotorcraft UAVs, namely, the twin-rotor and quadrotor systems. Starting with a brief background on the dual-rotor helicopter and a quadcopter, the full detailed mathematical dynamic model of each system is derived based on the Euler-Lagrange and Newton-Euler methods, considering a number of assumptions and considerations. Then, a state-of-the-art review of the diverse control strategies for controlling the rotorcraft systems with conceivable solutions when the systems are subjected to the different impediments is demonstrated. To counter some of these limitations and adverse operating/loading conditions in the UAVs, several innovative control techniques are particularly highlighted, and their performance are duly analyzed, discussed, and compared. The applied control techniques are deemed to produce a useful contribution to their successful implementation in the wake of varied constraints and demanding environments that result in a degree of robustness and efficacy. Some of the off-the-shelf developments in the rotorcraft systems for research and commercial applications are also presented.

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“…However, the drawback of such mechanisms is that they are complicated to implement in realistic conditions. In order to reduce the swing, effective feedback control schemes use measurement and estimation of the suspended-load oscillations in closed-loop systems [8][9][10][11][12][13][14][15][16][17][18]. Unfortunately, accurately sensing the suspended-load is difficult, and the feedback controller may conflict with actions of the operator.…”

Section: Introductionmentioning

confidence: 99%

Double-Hoist Dynamics and Oscillation Control of a Quadcopter Carrying a Swinging and Twisting Load

Zhu

Huang

Zhang

2020

Preprint

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Quadcopters can serve as aerial cranes that are able to suspend large-size loads below the fuselage for material-handling services. Double-hoist mechanisms help quadcopter to transport bulky loads effectively. However, double-hoist mechanisms exhibit strong coupling effect among the quadcopter’s attitude, load swing, and load twisting. Different from the single-hoist mechanisms, no effects have been directed at quadcopter slung loads with double-hoist mechanisms. A novel nonlinear dynamics model of a quadcopter carrying a distributed-mass load by double-hoist mechanisms is given in this paper. This explicit model captures the coupling between the quadcopter and load motion. Then a novel control method is proposed to reduce the swing and twisting of the load simultaneously. The simulation results illustrate that the control method succeeds in limiting the unwanted oscillations of quadcopter attitudes, load swing and twisting.

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Two-time-scale control of a multirotor aircraft for suspended load transportation

Cited by 44 publications

References 22 publications

Disturbance Attenuation Predictive Optimal Control for Quad-Rotor Transporting Unknown Varying Payload

Disturbance Attenuation Predictive Optimal Control for Quad-Rotor Transporting Unknown Varying Payload

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

Double-Hoist Dynamics and Oscillation Control of a Quadcopter Carrying a Swinging and Twisting Load

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