Geometric control and differential flatness of a quadrotor UAV with a cable-suspended load

Sreenath, Koushil; Lee, Taeyoung; Kumar, Vijay

doi:10.1109/cdc.2013.6760219

Cited by 239 publications

(114 citation statements)

References 15 publications

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“…For this paper we focus on straight line trajectories at constant height. As shown in [19] a quadrotor with cable-suspended load is a differentially-flat hybrid (if the cable is not always taut) system with the load position and the quadrotor yaw serving as the flat outputs. This means that by defining the trajectory of the load in time, the state of the quadrotor is defined up to the yaw of the quadrotor, which can be chosen freely.…”

Section: Trajectory Planningmentioning

confidence: 99%

Dynamic collaboration without communication: Vision-based cable-suspended load transport with two quadrotors

Gassner

Cieslewski

Scaramuzza

2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

101

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Abstract-Transport of objects is a major application in robotics nowadays. While ground robots can carry heavy payloads for long distances, they are limited in rugged terrains. Aerial robots can deliver objects in arbitrary terrains; however they tend to be limited in payload. It has been previously shown that, for heavy payloads, it can be beneficial to carry them using multiple flying robots. In this paper, we propose a novel collaborative transport scheme, in which two quadrotors transport a cable-suspended payload at accelerations that exceed the capabilities of previous collaborative approaches, which make quasi-static assumptions. Furthermore, this is achieved completely without explicit communication between the collaborating robots, making our system robust to communication failures and making consensus on a common reference frame unnecessary. Instead, they only rely on visual and inertial cues obtained from on-board sensors. We implement and validate the proposed method on a real system.

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Section: Trajectory Planningmentioning

confidence: 99%

Dynamic collaboration without communication: Vision-based cable-suspended load transport with two quadrotors

Gassner

Cieslewski

Scaramuzza

2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

101

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“…The coupled system comprising of the quadrotor and the actuated gripper, whose dynamics is given by (5), is differentially flat with a set of flat outputs given by (see [1] for details)…”

Section: Flat Outputs In the Inertial Framementioning

confidence: 99%

“…The system is underactuated; however, it is possible to design controllers that guarantee convergence from almost any point on SE(3), the Euclidean motion group in three dimensions [29]. Similar controllers have been derived for a quadrotor carrying a cable-suspended payload [5]. However, both of these approaches require full knowledge of the state.…”

Section: Introductionmentioning

confidence: 99%

“…The capabilities of Micro Aerial Vehicles (MAVs) are rapidly expanding to include surveillance [3], construction [4], manipulation of slung loads [5], collaborative transportation [6,7], and mapping of unknown environments using aerodynamic effects [8]. However, aerial vehicles' flight durations are limited by the energy density of batteries and the speed of aerial manipulation is restricted to quasi-static interactions with the environment.…”

Section: Introductionmentioning

confidence: 99%

“…In particular, we consider a quadrotor, which is appealing because of its mechanical simplicity, its agility, its ability to hover, and its well-understood dynamics [5]. Quadrotors are similar to helicopters, but have four rotors with parallel axes of rotation, and therefore, parallel thrust vectors [28].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Toward autonomous avian-inspired grasping for micro aerial vehicles

Thomas¹,

Loianno²,

Polin³

et al. 2014

Bioinspir. Biomim.

Self Cite

100

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Abstract. Micro Aerial Vehicles, particularly quadrotors, have been used in a wide range of applications. However, the literature on aerial manipulation and grasping is limited and the work is based on quasi-static models. In this paper, we draw inspiration from agile, fast-moving birds such as raptors, that are able to capture moving prey on the ground or in water, and develop similar capabilities for quadrotors. We address dynamic grasping, an approach to prehensile grasping in which the dynamics of the robot and its gripper are significant and must be explicitly modeled and controlled for successful execution. Dynamic grasping is relevant for fast pick-and-place operations, transportation and delivery of objects, and placing or retrieving sensors. We show how this capability can be realized (a) using a motion capture system and (b) without external sensors relying only on onboard sensors. In both cases we describe the dynamic model, and trajectory planning and control algorithms. In particular, we present a methodology for flying and grasping a cylindrical object using feedback from a monocular camera and an Inertial Measurement Unit onboard the aerial robot. This is accomplished by mapping the dynamics of the quadrotor to a level virtual image plane, which in turn enables dynamically-feasible trajectory planning for image features in the image space, and a vision-based controller with guaranteed convergence properties. We also present experimental results obtained with a quadrotor equipped with an articulated gripper to illustrate both approaches. ‡

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Quadrotor Control Via Robust Generalized Dynamic Inversion and Adaptive Non‐Singular Terminal Sliding Mode

Ansari

Bajodah

Hamayun

2018

Asian Journal of Control

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A robust two-loops structured control system design for quadrotor's position/attitude trajectory tracking is proposed. The aim of the outer loop is to provide the roll/pitch tilting commands to the inner loop, which in turns generates the tilting angles that control the quadrotor's center of gravity in the horizontal plane. The outer loop utilizes Robust Generalized Dynamic Inversion (RGDI) of a prescribed asymptotically stable differential equation in the deviation function of the horizontal position coordinates from their reference trajectories. The inner loop employs an Adaptive Non-singular Terminal Sliding Mode (ANTSM) to control the tilting angles, in addition to controlling the yaw attitude angle and the vertical position coordinate. The proposed scheme solves the singularity avoidance problems of generalized inversion and terminal sliding mode control. The stability of outer and inner loop is ensured by utilizing positive definite Lyapunov energy function for stable tracking performance against parametric variations and bounded unknown external disturbances. Numerous simulations are conducted on a six Degrees of Freedom (DoF) quadrotor model in the presence of parametric variations, un modeled dynamics, and external disturbances.

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Geometric control and differential flatness of a quadrotor UAV with a cable-suspended load

Cited by 239 publications

References 15 publications

Dynamic collaboration without communication: Vision-based cable-suspended load transport with two quadrotors

Dynamic collaboration without communication: Vision-based cable-suspended load transport with two quadrotors

Toward autonomous avian-inspired grasping for micro aerial vehicles

Quadrotor Control Via Robust Generalized Dynamic Inversion and Adaptive Non‐Singular Terminal Sliding Mode

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