A Novel Nonlinear Control Scheme for Double-Pendulum Quadrotor Transportation Systems

Quadrotor transportation systems are capable of transferring necessary relief supplies in emergency tasks. In practice, the nonnegligible hook and the payload’s scale make the system exhibits double-pendulum swing dynamics, which bring great challenges to controller design and stability analysis. To realize rapid swing suppression and efficient quadrotor positioning, a nonlinear controller is designed. Specifically, a composite signal is constructed. The closed-loop asymptotic stability analysis and simulation results are provided to verify the effectiveness of the control scheme.

[1]  Ning Sun,et al.  Nonlinear Hierarchical Control for Unmanned Quadrotor Transportation Systems , 2018, IEEE Transactions on Industrial Electronics.

[2]  Xin Xin,et al.  Reduced-order stable controllers for two-link underactuated planar robots , 2013, Autom..

[3]  Danna Zhou,et al.  d. , 1934, Microbial pathogenesis.

[4]  He Chen,et al.  Neural Network-Based Adaptive Antiswing Control of an Underactuated Ship-Mounted Crane With Roll Motions and Input Dead Zones , 2020, IEEE Transactions on Neural Networks and Learning Systems.

[5]  P. Olver.  Nonlinear Systems , 2013 .

[6]  Suseong Kim,et al.  Aerial grasping of cylindrical object using visual servoing based on stochastic model predictive control , 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA).

[7]  Vijay Kumar,et al.  Toward autonomous avian-inspired grasping for micro aerial vehicles , 2014, Bioinspiration & biomimetics.

[8]  He Chen,et al.  An energy-optimal solution for transportation control of cranes with double pendulum dynamics: Design and experiments , 2018 .

[9]  He Chen,et al.  Transportation Control of Double-Pendulum Cranes With a Nonlinear Quasi-PID Scheme: Design and Experiments , 2019, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[10]  Vaibhav Ghadiok,et al.  On the design and development of attitude stabilization, vision-based navigation, and aerial gripping for a low-cost quadrotor , 2012, Auton. Robots.

[11]  Vijay Kumar,et al.  Construction with quadrotor teams , 2012, Auton. Robots.

[12]  Rogelio Lozano,et al.  Swing-attenuation for a quadrotor transporting a cable-suspended payload. , 2017, ISA transactions.

[13]  Kamal Youcef-Toumi,et al.  Trajectory tracking sliding mode control of underactuated AUVs , 2015 .

[14]  He Chen,et al.  Nonlinear Antiswing Control for Crane Systems With Double-Pendulum Swing Effects and Uncertain Parameters: Design and Experiments , 2018, IEEE Transactions on Automation Science and Engineering.

[15]  Rafael Fierro,et al.  Trajectory generation for swing-free maneuvers of a quadrotor with suspended payload: A dynamic programming approach , 2012, 2012 IEEE International Conference on Robotics and Automation.

[16]  Konstantin Kondak,et al.  High accuracy visual servoing for aerial manipulation using a 7 degrees of freedom industrial manipulator , 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[17]  Rogelio Lozano,et al.  Passivity based control for a quadrotor UAV transporting a cable-suspended payload with minimum swing , 2015, 2015 54th IEEE Conference on Decision and Control (CDC).

[18]  Ning Sun,et al.  Dynamics analysis and time-optimal motion planning for unmanned quadrotor transportation systems , 2018 .