Nonlinear control of unmanned aerial vehicles with cable suspended payloads

Godbole, Ameya R.; Subbarao, Kamesh

doi:10.1016/j.ast.2019.07.032

Cited by 29 publications

(15 citation statements)

References 5 publications

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“…The feedback control schemes use estimation of the suspendedload oscillations to reduce swing in closed-loop systems. [1][2][3][4][5] Unfortunately, accurately measuring the suspended-load oscillations is challenging. In order to produce a minimal swing, optimal trajectory planning, [6][7][8] flatness-based control, 9 , and command shaping techniques 10 have been used to reduce the oscillations by modifying the pilot commands.…”

Section: Introductionmentioning

confidence: 99%

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Attitude-pendulum-sloshing coupled dynamics of quadrotors slung liquid containers

Zhu

Huang

Gnezdilov

2022

Proceedings of the Institution of Mechanical Engineers, Part G:

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Quadrotors suspended water containers may be used for fire-fighting services. Unfortunately, the complicated dynamics in this type of system degrade the flight safety because of coupling effects among the quadrotor attitude, container swing, and liquid sloshing. However, few effects have been directed at the attitude-pendulum-sloshing dynamics in this type of aerial cranes. A novel planar model of a quadrotor carrying a liquid tank under dual-hoist mechanisms is presented. The model includes vehicle-attitude dynamics, load-swing dynamics, and fluid-sloshing dynamics. Resulting from the model, a new method is proposed to control coupled oscillations among the vehicle attitude, load swing, and fluid sloshing. Numerous simulations on the nonlinear model demonstrate that the control method can reduce the undesirable oscillations, stabilize the quadrotor’s attitude, and reject the external disturbances. The theoretical findings may also extend to the three-dimensional dynamics of quadrotors slung liquid tanks, and other types of aerial vehicles transporting liquid containers including helicopters or tiltrotors.

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Section: Introductionmentioning

confidence: 99%

“…6-10. All abovementioned works [1][2][3][4][5][6][7][8][9][10] are focused on the suspended rigid loads, which only exhibits coupled oscillations between quadrotor attitude and cable-suspended rigid load. Therefore, the theoretical findings and experimental results cannot be applied on quadrotors slung liquid tanks.…”

Section: Introductionmentioning

confidence: 99%

Attitude-pendulum-sloshing coupled dynamics of quadrotors slung liquid containers

Zhu

Huang

Gnezdilov

2022

Proceedings of the Institution of Mechanical Engineers, Part G:

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“…In this context, the UAS, which play an important role due to the advantages they bring to the airspace (e.g., efficiency) [1], [11] and have been considered a relevant topic in the engineering community due to their applications [10], [24], are systems composed of sub-systems such as Unmanned Aerial Vehicle (UAV), its payloads, the control station and communications sub-systems [4], [10], [13]. There are different types of UAS, such as fully Autonomous Aircraft (AA) and Remotely Piloted Aircraft Systems (RPAS).…”

Section: Introductionmentioning

confidence: 99%

A Mindset-Based Evolution of Unmanned Aircraft System (UAS) Acceptance Into the National Airspace System (NAS)

et al. 2020

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The main goal of this research is to evaluate the Air Traffic Controller (ATCo) workload considering the Unmanned Aircraft System (UAS) integration into the National Airspace System (NAS) through fast-time simulations, and including futuristic scenarios in which the ATCo is familiar with manned and unmanned aircraft, i.e., different ATCo mindsets are considered. As these professionals play an essential role in optimizing the airspace operation, maintaining their workload at an acceptable level is essential. However, the integration of new technologies, such as UAS, may present an impact on safety levels from the workload perspective. In this context, the Technology Maturity Level (TML), which is a systematic metric/measurement system that supports assessments of the familiarity of a particular aircraft with ATCos, is proposed. The experiments showed that the integration of UAS into the NAS should be conducted gradually. INDEX TERMS Unmanned aircraft system (UAS), National Airspace System (NAS), Air Traffic Controller (ATCo), safety, workload.

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“…However, the drawback of such mechanisms is that they are complicated to implement in realistic conditions. In order to reduce the swing, effective feedback control schemes use measurement and estimation of the suspended-load oscillations in closed-loop systems [8][9][10][11][12][13][14][15][16][17][18]. Unfortunately, accurately sensing the suspended-load is difficult, and the feedback controller may conflict with actions of the operator.…”

Section: Introductionmentioning

confidence: 99%

Double-Hoist Dynamics and Oscillation Control of a Quadcopter Carrying a Swinging and Twisting Load

Zhu

Huang

Zhang

2020

Preprint

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Quadcopters can serve as aerial cranes that are able to suspend large-size loads below the fuselage for material-handling services. Double-hoist mechanisms help quadcopter to transport bulky loads effectively. However, double-hoist mechanisms exhibit strong coupling effect among the quadcopter’s attitude, load swing, and load twisting. Different from the single-hoist mechanisms, no effects have been directed at quadcopter slung loads with double-hoist mechanisms. A novel nonlinear dynamics model of a quadcopter carrying a distributed-mass load by double-hoist mechanisms is given in this paper. This explicit model captures the coupling between the quadcopter and load motion. Then a novel control method is proposed to reduce the swing and twisting of the load simultaneously. The simulation results illustrate that the control method succeeds in limiting the unwanted oscillations of quadcopter attitudes, load swing and twisting.

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Nonlinear control of unmanned aerial vehicles with cable suspended payloads

Cited by 29 publications

References 5 publications

Attitude-pendulum-sloshing coupled dynamics of quadrotors slung liquid containers

Attitude-pendulum-sloshing coupled dynamics of quadrotors slung liquid containers

A Mindset-Based Evolution of Unmanned Aircraft System (UAS) Acceptance Into the National Airspace System (NAS)

Double-Hoist Dynamics and Oscillation Control of a Quadcopter Carrying a Swinging and Twisting Load

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