Payload trajectory tracking control for aerial transportation systems with cable length online optimization
Cable-suspended aerial transportation systems are employed extensively across various industries. The capability to flexibly adjust the relative position between the multirotor and the payload has spurred growing interest in the system equipped with variable-length cable, promising broader application potential. Compared to systems with fixed-length cables, introducing the variable-length cable adds a new degree of freedom. However, it also results in increased nonlinearity and more complex dynamic coupling among the multirotor, the cable and the payload, posing significant challenges in control design. This paper introduces a backstepping control strategy tailored for aerial transportation systems with variable-length cable, designed to precisely track the payload trajectory while dynamically adjusting cable length. Then, a cable length generator has been developed that achieves online optimization of the cable length while satisfying state constraints, thus balancing the multirotor's motion and cable length changes without the need for manual trajectory planning. The asymptotic stability of the closed-loop system is guaranteed through Lyapunov techniques and the growth restriction condition. Finally, simulation results confirm the efficacy of the proposed method in managing trajectory tracking and cable length adjustments effectively.
Code (0)
등록된 구현이 없습니다.
Tasks
Trajectory PlanningSimilar Papers 제목 키워드 기반
ES-HPC-MPC: Exponentially Stable Hybrid Perception Constrained MPC for Quadrotor with Suspended Payloads
Aerial transportation using quadrotors with cable-suspended payloads holds great potential for applications in disaster response, logistics, and infrastructure maintenance. However, their hybrid and underactuated dynamic…
Disaster ResponseModel Predictive ControlHuman Physical Interaction based on UAV Cooperative Payload Transportation System using Adaptive Backstepping and FNTSMC
This paper presents a nonlinear control strategy for an aerial cooperative payload transportation system consisting of two quadrotor UAVs rigidly connected to a payload. The system includes human physical interaction fac…
PositionCooperative Transportation of UAVs Without Inter-UAV Communication
A leader-follower system is developed for cooperative transportation. To the best of our knowledge, this is the first work that inter-UAV communication is not required and the reference trajectory of the payload can be m…
One-shot Learning for Autonomous Aerial Manipulation
This paper is concerned with learning transferable contact models for aerial manipulation tasks. We investigate a contact-based approach for enabling unmanned aerial vehicles with cable-suspended passive grippers to comp…
One-Shot LearningTowards Fully Onboard State Estimation and Trajectory Tracking for UAVs with Suspended Payloads
This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hardware requirements. In contrast to many e…