Quadrotor UAV control for transportation of cable suspended payload

• Autorzy: Kusznir Tom , Smoczek Jarosław

Identyfikatory

DOI

10.2478/kones-2019-0035

• Języki publikacji: EN

Abstrakty

EN

Payload transportation with UAV’s (Unmanned Aerial Vehicles) has become a topic of interest in research with possibilities for a wide range of applications such as transporting emergency equipment to otherwise inaccessible areas. In general, the problem of transporting cable suspended loads lies in the under actuation, which causes oscillations during horizontal transport of the payload. Excessive oscillations increase both the time required to accurately position the payload and may be detrimental to the objects in the workspace or the payload itself. In this article, we present a method to control a quadrotor with a cable suspended payload. While the quadrotor itself is a nonlinear system, the problem of payload transportation with a quadrotor adds additional complexities due to both input coupling and additional under actuation of the system. For simplicity, we fix the quadrotor to a planar motion, giving it a total of 4 degrees of freedom. The quadrotor with the cable suspended payload is modelled using the Euler-Lagrange equations of motion and then partitioned into translation and attitude dynamics. The design methodology is based on simplifying the system by using a variable transformation to decouple the inputs, after which sliding mode control is used for the translational and pendulum dynamics while a feedback linearizing controller is used for the rotational dynamics of the quadrotor. The sliding mode parameters are chosen so stability is guaranteed within a certain region of attraction. Lastly, the results of the numerical simulations created in MATLAB/Simulink are presented to verify the effectiveness of the proposed control strategy.

Słowa kluczowe

EN

transport; UAV; quadrotor; under actuated; cable suspended payload; sliding mode control

• Wydawca: Łukasiewicz Research Network - Institute of Aviation ; European Science Society of Powertrain and Transport KONES Poland ; Wydawnictwo Instytutu Technicznego Wojsk Lotniczych
• Czasopismo: Journal of KONES
• Rocznik: 2019
• Tom: Vol. 26, No. 2
• Strony: 77--84
• Opis fizyczny: Bibliogr. 13 poz., rys.

Twórcy

autor

Kusznir Tom

• AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Mickiewicza Av. 30, 30-059 Krakow, Poland tel.: [phone]

autor

Smoczek Jarosław

• AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Mickiewicza Av. 30, 30-059 Krakow, Poland tel.: [phone]

Bibliografia

• [1] Andrzejewski-Popow, Ł., Kotas, T., The future development of unmanned air vehicles, Journal of KONES Powertrain and Transport, Vol. 22, No. 4, 2015.
• [2] Chmaj, G., Buratowski, T., Uhl, T., Seweryn, K., Banaszkiewicz, M., The dynamics influence of the attached manipulator on unmanned aerial vehicle, Aerospace Robotics, GeoPlanet Earth and Planetary Sciences, Springer-Verlag Berlin Heidelberg, pp. 109-119, 2013.
• [3] Ciopcia, M., Szczepański, C., Concept of tiltrotor UAV control system, Journal of KONES Powertrain and Transport, Vol. 24, No. 1, 2017. 83
• [4] Cruz, P. J., Oishi, M., Fierro, R., Lift of a Cable-suspended load by a quadrotor: A Hybrid System Approach, IEEE American Control Conference (ACC), pp. 1887-1892, Chicago 2015.
• [5] Foehn, P., Falanga, D., Kuppuswamy, N., Tedrake, R., Scaramuzza, D., Fast trajectory optimization for agile quadrotor manoeuvres with a cable-suspended payload, Robotics: Science and Systems, Cambridge, MA, USA 2017.
• [6] Guerrero, M.E., Mercado, D. A., Lozano, R., Garcia, C. D., IDA-PBC methodology for a quadrotor UAV transporting a cable-suspended payload., International Conference on Unmanned Aircraft Systems (ICUAS), pp. 470-476, Denver 2015.
• [7] Guerrero-Sánchez, M. E., Mercado-Ravell, D. A., Lozano R., García-Beltrán C. D., Swing-attenuation for a quadrotor transporting a cable-suspended payload, ISA Transactions, 2017.
• [8] Lee, T., Sreenath, K., Kumar V., Geometric control of cooperating multiple quadrotor UAVs with a suspended load, Proceedings of the IEEE Conference on Decision and Control, pp. 5510-5515, Florence 2013.
• [9] Ołdziej, D., Gosiewski, Z., Modelling of dynamic and control of six-rotor autonomous unmanned aerial vehicle, Solid State Phenomena, Vol. 198, pp. 220-225, 2013.
• [10] Palunko, I., Fierro, R., Cruz, P., Trajectory generation for swing free manoeuvres of a quadrotor with suspended payload: A dynamic programming approach, IEEE International Conference on Robotics and Automation, pp. 2691-2697, 2012.
• [11] Ruggiero, F., Lippiello, V., Ollero, A., Aerial manipulation: A literature review, IEEE Robotics and Automation Letters, Vol. 3, No. 3, pp. 1957-1964, 2018.
• [12] Sadr, S., Moosavian, S. Ali A., Zarafshan, P., Dynamics Modeling and Control of a Quadrotor with Swing Load, Journal of Robotics, 2014.
• [13] Zúñiga, N. S., Muñoz, F., Márquez, M. A., Quesada, E. S. E., Carrillo, L. R. G., Load transportation using single and multiple quadrotor aerial vehicles with swing load attenuation International Conference on Unmanned Aircraft Systems (ICUAS), pp. 269-278, Dallas TX, USA 2018.

Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).