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Trajectory Generation and Control in a Special Transport Mission of a Cable-Suspended Point-Mass Load from a Quadrotor

Yıl 2018, Cilt: 31 Sayı: 2, 578 - 598, 01.06.2018

Öz

In this study, trajectory planning and control of a cable-suspended load from a quadrotor in a special transportation mission are addressed. The mission under consideration in this study includes picking up and transportation of the load toward a defined point at a specified time. Therefore, two trajectory tracking controllers are designed for the quadrotor and the load. Controllers are designed geometrically via Backstepping and configuration error functions defined on S2 and SO(3) in the literature of Lie groups. By this way, common singularities of regular quadrotor attitude controllers are avoided. Moreover, sufficient conditions for success of the proposed control laws are calculated using Lyapunov exponential stability theorem and an argument about singularly perturbed systems. All simulations are performed on an experimentally verified model of OS4 quadrotor and capabilities of the designed control laws are demonstrated.

Kaynakça

  • L. Merino, F. Caballero, J. R. Martínez-de-Dios, I. Maza, and A. Ollero, "An Unmanned Aircraft System for Automatic Forest Fire Monitoring and Measurement", Journal of Intelligent & Robotic Systems, 65(1-4): 533-548, (2012).
Yıl 2018, Cilt: 31 Sayı: 2, 578 - 598, 01.06.2018

Öz

Kaynakça

  • L. Merino, F. Caballero, J. R. Martínez-de-Dios, I. Maza, and A. Ollero, "An Unmanned Aircraft System for Automatic Forest Fire Monitoring and Measurement", Journal of Intelligent & Robotic Systems, 65(1-4): 533-548, (2012).
Toplam 1 adet kaynakça vardır.

Ayrıntılar

Birincil Dil İngilizce
Bölüm Mechanical Engineering
Yazarlar

Hassan Sayyaadı Bu kişi benim

Ali Soltanı Bu kişi benim

Yayımlanma Tarihi 1 Haziran 2018
Yayımlandığı Sayı Yıl 2018 Cilt: 31 Sayı: 2

Kaynak Göster

APA Sayyaadı, H., & Soltanı, A. (2018). Trajectory Generation and Control in a Special Transport Mission of a Cable-Suspended Point-Mass Load from a Quadrotor. Gazi University Journal of Science, 31(2), 578-598.
AMA Sayyaadı H, Soltanı A. Trajectory Generation and Control in a Special Transport Mission of a Cable-Suspended Point-Mass Load from a Quadrotor. Gazi University Journal of Science. Haziran 2018;31(2):578-598.
Chicago Sayyaadı, Hassan, ve Ali Soltanı. “Trajectory Generation and Control in a Special Transport Mission of a Cable-Suspended Point-Mass Load from a Quadrotor”. Gazi University Journal of Science 31, sy. 2 (Haziran 2018): 578-98.
EndNote Sayyaadı H, Soltanı A (01 Haziran 2018) Trajectory Generation and Control in a Special Transport Mission of a Cable-Suspended Point-Mass Load from a Quadrotor. Gazi University Journal of Science 31 2 578–598.
IEEE H. Sayyaadı ve A. Soltanı, “Trajectory Generation and Control in a Special Transport Mission of a Cable-Suspended Point-Mass Load from a Quadrotor”, Gazi University Journal of Science, c. 31, sy. 2, ss. 578–598, 2018.
ISNAD Sayyaadı, Hassan - Soltanı, Ali. “Trajectory Generation and Control in a Special Transport Mission of a Cable-Suspended Point-Mass Load from a Quadrotor”. Gazi University Journal of Science 31/2 (Haziran 2018), 578-598.
JAMA Sayyaadı H, Soltanı A. Trajectory Generation and Control in a Special Transport Mission of a Cable-Suspended Point-Mass Load from a Quadrotor. Gazi University Journal of Science. 2018;31:578–598.
MLA Sayyaadı, Hassan ve Ali Soltanı. “Trajectory Generation and Control in a Special Transport Mission of a Cable-Suspended Point-Mass Load from a Quadrotor”. Gazi University Journal of Science, c. 31, sy. 2, 2018, ss. 578-9.
Vancouver Sayyaadı H, Soltanı A. Trajectory Generation and Control in a Special Transport Mission of a Cable-Suspended Point-Mass Load from a Quadrotor. Gazi University Journal of Science. 2018;31(2):578-9.