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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).
There are 1 citations in total.

Details

Primary Language English
Journal Section Mechanical Engineering
Authors

Hassan Sayyaadı This is me

Ali Soltanı This is me

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

Cite

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. June 2018;31(2):578-598.
Chicago Sayyaadı, Hassan, and 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, no. 2 (June 2018): 578-98.
EndNote Sayyaadı H, Soltanı A (June 1, 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 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, 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 (June 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 and 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, vol. 31, no. 2, 2018, pp. 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.