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

Year 2018, Volume 31, Issue 2, 578 - 598, 01.06.2018

Abstract

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.

References

  • 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).

Year 2018, Volume 31, Issue 2, 578 - 598, 01.06.2018

Abstract

References

  • 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).

Details

Primary Language English
Journal Section Mechanical Engineering
Authors

Hassan SAYYAADI This is me (Primary Author)

Türkiye


Ali SOLTANI This is me

Publication Date June 1, 2018
Published in Issue Year 2018, Volume 31, Issue 2

Cite

Bibtex @research article { gujs429378, journal = {Gazi University Journal of Science}, eissn = {2147-1762}, address = {}, publisher = {Gazi University}, year = {2018}, volume = {31}, number = {2}, pages = {578 - 598}, title = {Trajectory Generation and Control in a Special Transport Mission of a Cable-Suspended Point-Mass Load from a Quadrotor}, key = {cite}, author = {Sayyaadı, Hassan and Soltanı, Ali} }
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 . Retrieved from https://dergipark.org.tr/en/pub/gujs/issue/37206/429378
MLA 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 31 (2018 ): 578-598 <https://dergipark.org.tr/en/pub/gujs/issue/37206/429378>
Chicago 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 31 (2018 ): 578-598
RIS TY - JOUR T1 - Trajectory Generation and Control in a Special Transport Mission of a Cable-Suspended Point-Mass Load from a Quadrotor AU - HassanSayyaadı, AliSoltanı Y1 - 2018 PY - 2018 N1 - DO - T2 - Gazi University Journal of Science JF - Journal JO - JOR SP - 578 EP - 598 VL - 31 IS - 2 SN - -2147-1762 M3 - UR - Y2 - 2018 ER -
EndNote %0 Gazi University Journal of Science Trajectory Generation and Control in a Special Transport Mission of a Cable-Suspended Point-Mass Load from a Quadrotor %A Hassan Sayyaadı , Ali Soltanı %T Trajectory Generation and Control in a Special Transport Mission of a Cable-Suspended Point-Mass Load from a Quadrotor %D 2018 %J Gazi University Journal of Science %P -2147-1762 %V 31 %N 2 %R %U
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 (June 2018): 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. 2018; 31(2): 578-598.
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): 578-598.
IEEE H. Sayyaadı and 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, vol. 31, no. 2, pp. 578-598, Jun. 2018