Hardware-In-the-Loop Simulation of Time-Delayed Anti-Swing Controller for Quadrotor with Suspended Load

Omar, Hanafy M.

doi:10.3390/app12031706

Cited by 4 publications

(2 citation statements)

References 25 publications

(26 reference statements)

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“…Based on the received information, the flight control firmware decides actuator commands and controls the dynamics of the UAV and the sensor platform. PX4 firmware is already integrated to Gazebo simulation environment and have been widely used by many researchers over the years [24][25][26].…”

Section: Gazebo Simulation Environmentmentioning

confidence: 99%

Design and Implementation of Sensor Platform for UAV-Based Target Tracking and Obstacle Avoidance

Tullu

Hassanalian

Hwang

2022

Drones

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Small-scale unmanned aerial vehicles are being deployed in urban areas for missions such as ground target tracking, crime scene monitoring, and traffic management. Aerial vehicles deployed in such cluttered environments are required to have robust autonomous navigation with both target tracking and obstacle avoidance capabilities. To this end, this work presents a simple-to-design but effective steerable sensor platform and its implementation techniques for both obstacle avoidance and target tracking. The proposed platform is a 2-axis gimbal system capable of roll and pitch/yaw. The mathematical model that governs the dynamics of this platform is developed. The performance of the platform is validated through a software-in-the-loop simulation. The simulation results show that the platform can be effectively steered to all regions of interest except backward. With its design layout and mount location, the platform can engage sensors for obstacle avoidance and target tracking as per requirements. Moreover, steering the platform in any direction does not induce aerodynamic instability on the unmanned aerial vehicle in mission.

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Section: Gazebo Simulation Environmentmentioning

confidence: 99%

Design and Implementation of Sensor Platform for UAV-Based Target Tracking and Obstacle Avoidance

Tullu

Hassanalian

Hwang

2022

Drones

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“…Zhang, D. [22] presented a quadrotor anti-swing control scheme using feedforward controllers, and then used it to develop a posture visual measuring scheme based on a quadrotor suspension system model, effectively suppressing load swing. Omar, H.M. [23] applied a load-swing-angle-based anti-swing controller with delayed feedback in a hardware-in-the-loop setup to alleviate suspension load oscillations. Shi, D. [24] proposed a method for mitigating disturbances with high precision built on harmonic extended state observer (HESO), enhancing the robustness of quadrotor aircraft under suspended load influence.…”

Section: Introductionmentioning

confidence: 99%

Research on the Anti-Swing Control Methods of Dual-Arm Wheeled Inspection Robots for High-Voltage Transmission Lines

Yang,

Yan,

Zhang

et al. 2023

Actuators

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This paper presents an anti-swing control method to prevent situations where inspection robots detach and fall off transmission lines during obstacle crossing due to excessive swing angles caused by the rotation of the robot around the transmission line. Firstly, an obstacle-crossing model for the inspection robot was constructed and the causes of robot swinging phenomena were analyzed, in addition to their impact on obstacle crossing stability. By combining this with the obstacle-crossing model, a moment balance equation was established for the inspection robot. This equation can be used to solve mapping relationships between body offset and the tilt angle of transmission line gripping arms. We propose an anti-swing control strategy by adjusting the angle of the transmission line gripping arm’s pitching joint to make the body offset approach zero, and by utilizing the advantages of fuzzy logic in the fuzzy PID algorithm compared with the traditional PID algorithm, it can adaptively avoid the occurrence of robot swinging phenomena. The experimental results of obstacle-crossing experiments under no wind and wind turbulence conditions indicated that the proposed anti-swing control method in this study can effectively keep the body offset to within 3 mm. Compared with the methods of not using anti-swing control and using traditional PID anti-swing control, in the absence of wind effects, the peak values of body offset were reduced by 96.53% and 18.85%, respectively. Under the influence of wind turbulence, the peak values of body offset were reduced by 97.02% and 27.12%, respectively. The effectiveness of the anti-swing control method proposed in this paper has thus been verified.

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Robust Nonlinear Backstepping FTSMC of a Quadrotor UAV-Suspended Load System with Obstacle Avoidance and Swing Attenuation

Aliyu,

Alhems

2023

2023 30th IEEE International Conference on Electronics, Circuits and Systems (ICECS)

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Hardware-In-the-Loop Simulation of Time-Delayed Anti-Swing Controller for Quadrotor with Suspended Load

Cited by 4 publications

References 25 publications

Design and Implementation of Sensor Platform for UAV-Based Target Tracking and Obstacle Avoidance

Design and Implementation of Sensor Platform for UAV-Based Target Tracking and Obstacle Avoidance

Research on the Anti-Swing Control Methods of Dual-Arm Wheeled Inspection Robots for High-Voltage Transmission Lines

Robust Nonlinear Backstepping FTSMC of a Quadrotor UAV-Suspended Load System with Obstacle Avoidance and Swing Attenuation

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