Adaptive Multi Surface Sliding Mode Control of a Quadrotor Slung Load System

Peris, Clevon; Norton, Michael; Khoo, Sui Yang

doi:10.1109/icara60736.2024.10552970

2024 10th International Conference on Automation, Robotics and Applications (ICARA) 2024

DOI: 10.1109/icara60736.2024.10552970

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Adaptive Multi Surface Sliding Mode Control of a Quadrotor Slung Load System

Clevon Peris,

Michael Norton,

Sui Yang Khoo

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2024

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Adaptive Multi-Surface Sliding Mode Control with Radial Basis Function Neural Networks and Reinforcement Learning for Multirotor Slung Load Systems

Peris,

Norton,

Khoo

2024

Electronics

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While using multirotor UAVs for transport of suspended payloads, there is a need for stability along the desired path, in addition to avoidance of any excessive payload oscillations, and a good level of precision in maintaining the desired path of the vehicle. However, due to the nonlinear and underactuated nature of the system, in addition to the presence of mismatched uncertainties, the development of a control system for this application poses an interesting research problem. This paper proposes a control architecture for a multirotor slung load system by integrating a Multi-Surface Sliding Mode Control, aided by a Radial Basis Function Neural Network, with a Deep Q-Network Reinforcement Learning agent. The former will be used to ensure asymptotic tracking stability, while the latter will be used to suppress payload oscillations. First, we will present the dynamics of a multirotor slung load system, represented here as a quadrotor with a single pendulum load suspended from it. We will then propose a control method in which a multi-surface sliding mode controller, based on an adaptive RBF Neural Network for trajectory tracking of the quadrotor, works in tandem with a Deep Q-Network Reinforcement Learning agent whose reward function aims to suppress the oscillations of the single pendulum slung load. Simulation results demonstrate the effectiveness and potential of the proposed approach in achieving precise and reliable control of multirotor slung load systems.

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Adaptive Multi-Surface Sliding Mode Control with Radial Basis Function Neural Networks and Reinforcement Learning for Multirotor Slung Load Systems

Peris,

Norton,

Khoo

2024

Electronics

Self Cite

View full text Add to dashboard Cite

show abstract

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Adaptive Multi Surface Sliding Mode Control of a Quadrotor Slung Load System

Cited by 1 publication

References 11 publications

Adaptive Multi-Surface Sliding Mode Control with Radial Basis Function Neural Networks and Reinforcement Learning for Multirotor Slung Load Systems

Adaptive Multi-Surface Sliding Mode Control with Radial Basis Function Neural Networks and Reinforcement Learning for Multirotor Slung Load Systems

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