Decentralized Motion Control in a Cabled-based Multi-drone Load Transport System

Mohammadi, Keyvan; Jafarinasab, Mohammad; Sirouspour, Shahin; Dyer, Eric

doi:10.1109/iros.2018.8593952

Cited by 13 publications

(8 citation statements)

References 17 publications

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“…depicts the evolution of the quadrotor attitude when the two control laws are applied. In the left column, the results for the proposed control law are shown, whereas the right column portrays the results using (17). In both cases, the first subplot of each column shows the time evolution for the scalar component of the desired and current quaternion.…”

Section: Quaternion and Angular Velocity Evolutionmentioning

confidence: 99%

“…Once the disturbance vanishes, the control loop is closed, and the aircraft performs as desired. Finally, the control (torque) signal is shown in Figure 6 for both approaches ( 16) and (17). Note that the constraints on the control magnitude are respected.…”

Section: Disturbance Estimation and Rejectionmentioning

confidence: 99%

“…For instance, the disturbances in flight formation applications when quadrotors fly close to each other must be taken into account [13][14][15]. Other examples are the external forces and torques that a quadrotor might encounter within inspection applications, aerial manipulation, and load transportation, where the aircraft interacts physically with and flies near walls, surfaces, and objects in the environment [16][17][18][19]. Furthermore, in many applications like agriculture and utility line inspection, the vehicles are subject to operating in a windy and complex environment, where aggressive attitude maneuvers are required to cope with external disturbances that affect their dynamic behavior [20,21].…”

Section: Introduction 1motivations and Backgroundmentioning

confidence: 99%

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Bounded Attitude Control with Active Disturbance Rejection Capabilities for Multirotor UAVs

et al. 2021

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This paper addresses an attitude tracking control design applied to multirotor unmanned aerial vehicles (UAVs) based on an ADRC approach. The proposed technique groups the endogenous and exogenous disturbances into a total disturbance, and then this is estimated online via an extended state observer (ESO). Further, a quaternion-based feedback is developed, which is assisted by a feedforward term obtained via the ESO to relieve the total disturbance actively. The control law is bounded; consequently, it takes into account the maximum capabilities of the actuators to reject the disturbances. The stability is analyzed in the ISS framework, guaranteeing that the closed loop (controller-ESO-UAV) is robustly stable. The simulation results allow validation of the theoretical features.

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Section: Quaternion and Angular Velocity Evolutionmentioning

confidence: 99%

Section: Disturbance Estimation and Rejectionmentioning

confidence: 99%

Section: Introduction 1motivations and Backgroundmentioning

confidence: 99%

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Bounded Attitude Control with Active Disturbance Rejection Capabilities for Multirotor UAVs

et al. 2021

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“…However, the above rigid joint methods will limit the size of UAVs and payload. In addition, some cooperative methods for transferring a payload fixed with cable by multiple UAVs [11,12,14,15] was proposed, which has a high degree of freedom in selecting the number and size of UAVs and payload. These research methods mainly use PD control for basic control.…”

Section: Introductionmentioning

confidence: 99%

“…Approaches to inertia compensation and vibration suppression are roughly classified into two types. The first is a method of accurately modelling and controlling a control object, which requires information such as attitude and acceleration, cable angle, and payload mass [11,12,14]. The second method is to use an observer to compensate for disturbance.…”

Section: Introductionmentioning

confidence: 99%

Cooperative transport control by a multicopter system

Kotani

Guo

Namerikawa

et al. 2021

IET Control Theory & Appl

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To date, multicopters have mainly been used in the entertainment and information‐gathering fields, but can potentially be used to transport payloads. Specifically, multicopters are more suited for manoeuvring tough terrains and delivering payloads to areas unaccessible by other means. The authors propose a control method to achieve cooperative transport with a plural multicopter system and address the problem of delivering a payload being suspended via cables from multicopters. In cooperative transport using a multicopter system, disturbance (weight, wind, and inertia force) may cause destabilization. A consensus algorithm is used to coordinate flight of helicopters in a formation and to ensure that the payload follows a virtual leader. Disturbances (such as wind and cable tension) are primary causes of destabilization and, in the multicopter setting, they are suppressed by an adaptive robust control, Robust Integral of Sign of the Error control. It is shown that the proposed control design can achieve not only convergence under the ideal setting but also robust operation under significant disturbances. In addition, additional control objectives such as cable tension, payload attitude, and collision avoidance can be integrated and achieved. As an auxiliary method, cable tension control, maintaining a horizontal payload attitude, and collision avoidance are considered. The usefulness of the proposed method was verified by simulations and laboratory flight testing demonstrations.

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Coordinated transportation of tethered multi-rotor UAVs based on differential graphical games

Liu,

Ma,

Zhang

et al. 2024

Aerospace Science and Technology

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Decentralized Motion Control in a Cabled-based Multi-drone Load Transport System

Cited by 13 publications

References 17 publications

Bounded Attitude Control with Active Disturbance Rejection Capabilities for Multirotor UAVs

Bounded Attitude Control with Active Disturbance Rejection Capabilities for Multirotor UAVs

Cooperative transport control by a multicopter system

Coordinated transportation of tethered multi-rotor UAVs based on differential graphical games

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