Unmanned Aerial Transportation System With Flexible Connection Between the Quadrotor and the Payload: Modeling, Controller Design, and Experimental Validation

Liang, Xiao; Yu, Hai; Zhang, Zhuang; Liu, Huawang; Fang, Yongchun; Han, Jianda

doi:10.1109/tie.2022.3163526

Cited by 23 publications

(9 citation statements)

References 38 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…, describe the desired positions and yaw angles, respectively, where   i is the i-th order derivative of the variable. There exist nonnegative constants x  ， y  and z  that satisfy (1) ,…”

Section: A Dynamics System Descriptionmentioning

confidence: 99%

“…Recently, quadrotor unmanned aerial vehicles (UAVs) have found widespread employment in industrial and academic domains, demonstrating significant potential in areas such as agriculture, environmental reconnaissance, logistics and transportation, and disaster detection [1]- [4]. Compared with fixed-wing and helicopter UAVs, quadrotor UAVs have a simple structure, convenient maintenance and excellent maneuverability.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Fixed-Time Self-Structuring Neuron Network-Based Adjustable Prescribed Performance Control for a Quadrotor UAV With Input Saturation

Liu,

Zheng,

Zhang

et al. 2024

IEEE Access

View full text Add to dashboard Cite

This paper introduces a fixed-time self-structuring neural network (SSNN)-based adjustable prescribed performance control for quadrotors designed to handle mutational external disturbances and input saturation. To address the unpredictable nature of such disturbances during missions, SSNN is proposed for limited on-board resources of the quadrotors. This kind of neural network can adaptively adjust the number of neurons in real time to achieve more precise estimations while minimizing resource consumption. Second, to overcome the singularity problem that arises when the tracking error may exceed the boundary of the envelope when a mutation disturbance occurs, an adaptively adjustable prescribed performance function is proposed to constrain the tracking error, which is always within the envelope to avoid the singularity problem. A fixed-time adaptive command filter that can estimate an unknown upper bound on the derivative of the virtual control law with respect to time is proposed and improves the convergence rate. Under Lyapunov's theorem, it is demonstrated that the closed-loop system can converge to the origin within a fixed time, showcasing the effectiveness of the proposed control strategy as evidenced by comparative simulation experiments.

show abstract

Section: A Dynamics System Descriptionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Fixed-Time Self-Structuring Neuron Network-Based Adjustable Prescribed Performance Control for a Quadrotor UAV With Input Saturation

Liu,

Zheng,

Zhang

et al. 2024

IEEE Access

View full text Add to dashboard Cite

show abstract

“…To achieve this study's objectives, the differentially flat hybrid nature of the quadrotor aerial transportation system is first established. It should be noted that [7][8][9][10][11][12] address the modeling, controller design, and experimental validation of an unmanned aerial transportation system with flexible connectivity between the quadrotor and the payload. Researchers have unavoidably looked at robust control to run a quadrotor under uncertain conditions.…”

Section: Introductionmentioning

confidence: 99%

Fixed-Time Controller for Altitude/Yaw Control of Mini-Drones: Real-Time Implementation with Uncertainties

et al. 2023

View full text Add to dashboard Cite

Gradually, it has become easier to use aerial transportation systems in practical applications. However, due to the fixed-length wire, recent studies on load-suspended transportation systems have revealed some practical constraints, especially when using quadrotor unmanned aerial vehicles (UAVs). By actively adjusting the distance between the quadrotor and the payload, it becomes possible to carry out a variety of challenging tasks, including traversing confined spaces, collecting samples from offshore locations, and even landing a payload on a movable platform. Thus, mass variable aerial transportation systems should be equipped with trajectory tracking control mechanisms to accomplish these tasks. Due to the above-mentioned reasons, the present paper addresses the problem of the altitude/yaw tracking control of a mini-quadrotor subject to mass uncertainties. The main objective of this paper is to design a fixed-time stable controller for the perturbed altitude/yaw motions, based on recent results using the fixed-time stability approach. For comparison reasons, other quadrotor motion controllers such as dual proportional integral derivative (PID) loops were considered. To show its effectiveness, the proposed fixed-time controller was validated on a real mini-quadrotor under different scenarios and has shown good performance in terms of stability and trajectory tracking.

show abstract

“…Underactuated mechanical systems, which own fewer control variables than degrees of freedom to be controlled, are extensively used in various industrial fields. [1][2][3][4][5][6][7][8][9][10][11] The overhead crane system, as a typical underactuated mechanical system, has been widely used in railway transportation, iron and steel chemical industry, port and other places, the main work of which is driving the cargo quickly and safely to its destination. Similar to other underactuated mechanical systems, the fact that the cargo can be only indirectly controlled by the motion of the trolley brings a great difficulty for the crane control.…”

Section: Introductionmentioning

confidence: 99%

Finite time disturbance observer design and Lyapunov-based control design for overhead cranes with double-pendulum dynamics

Li,

Wu,

Zhao

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

In this paper, a novel disturbance observer and a Lyapunov-based control approach are developed for the crane control. For existing works, the assumption on the disturbances is strong and the motivation of these methods is to reject disturbances by feedback control. To tackle these problems, this paper proposes a novel composite control strategy consisting of a nonlinear control method and a finite time disturbance observer. Specifically, first, based on the system dynamic equations, a disturbance estimator is put forward, which can exactly identify the unknown disturbances in finite time. Next, an elaborate Lyapunov function is constructed and a disturbance-compensation-based control approach is presented for the overhead crane system with double-pendulum dynamics. Then, rigorous theoretical analysis is given to prove that all of the states of the closed-loop system asymptotically converge to the origin. At last, simulation tests are included to verify the effectiveness and robustness of the proposed method.

show abstract

Unmanned Aerial Transportation System With Flexible Connection Between the Quadrotor and the Payload: Modeling, Controller Design, and Experimental Validation

Cited by 23 publications

References 38 publications

Fixed-Time Self-Structuring Neuron Network-Based Adjustable Prescribed Performance Control for a Quadrotor UAV With Input Saturation

Fixed-Time Self-Structuring Neuron Network-Based Adjustable Prescribed Performance Control for a Quadrotor UAV With Input Saturation

Fixed-Time Controller for Altitude/Yaw Control of Mini-Drones: Real-Time Implementation with Uncertainties

Finite time disturbance observer design and Lyapunov-based control design for overhead cranes with double-pendulum dynamics

Contact Info

Product

Resources

About