Geometric control of a quadrotor UAV transporting a payload connected via flexible cable

Farhad A. Goodarzi; Daewon Lee; Taeyoung Lee

doi:10.1007/s12555-014-0304-0

Geometric control of a quadrotor UAV transporting a payload connected via flexible cable

Farhad A. Goodarzi, Daewon Lee, Taeyoung Lee

Research output: Contribution to journal › Article › peer-review

139 Scopus citations

Abstract

We derived a coordinate-free form of equations of motion for a complete model of a quadrotor UAV with a payload which is connected via a flexible cable according to Lagrangian mechanics on a manifold. The flexible cable is modeled as a system of serially-connected links and has been considered in the full dynamic model. A geometric nonlinear control system is presented to asymptotically stabilize the position of the quadrotor while aligning the links to the vertical direction below the quadrotor. Numerical simulation and experimental results are presented and a rigorous stability analysis is provided to confirm the accuracy of our derivations. These results will be particularly useful for aggressive load transportation that involves large deformation of the cable.

Original language	English (US)
Pages (from-to)	1486-1498
Number of pages	13
Journal	International Journal of Control, Automation and Systems
Volume	13
Issue number	6
DOIs	https://doi.org/10.1007/s12555-014-0304-0
State	Published - Dec 1 2015
Externally published	Yes

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Computer Science Applications

Keywords

Aerial load transportation
geometric control
unmanned aerial vehicle

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10.1007/s12555-014-0304-0

Cite this

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title = "Geometric control of a quadrotor UAV transporting a payload connected via flexible cable",

abstract = "We derived a coordinate-free form of equations of motion for a complete model of a quadrotor UAV with a payload which is connected via a flexible cable according to Lagrangian mechanics on a manifold. The flexible cable is modeled as a system of serially-connected links and has been considered in the full dynamic model. A geometric nonlinear control system is presented to asymptotically stabilize the position of the quadrotor while aligning the links to the vertical direction below the quadrotor. Numerical simulation and experimental results are presented and a rigorous stability analysis is provided to confirm the accuracy of our derivations. These results will be particularly useful for aggressive load transportation that involves large deformation of the cable.",

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T1 - Geometric control of a quadrotor UAV transporting a payload connected via flexible cable

AU - Goodarzi, Farhad A.

AU - Lee, Daewon

AU - Lee, Taeyoung

PY - 2015/12/1

Y1 - 2015/12/1

N2 - We derived a coordinate-free form of equations of motion for a complete model of a quadrotor UAV with a payload which is connected via a flexible cable according to Lagrangian mechanics on a manifold. The flexible cable is modeled as a system of serially-connected links and has been considered in the full dynamic model. A geometric nonlinear control system is presented to asymptotically stabilize the position of the quadrotor while aligning the links to the vertical direction below the quadrotor. Numerical simulation and experimental results are presented and a rigorous stability analysis is provided to confirm the accuracy of our derivations. These results will be particularly useful for aggressive load transportation that involves large deformation of the cable.

AB - We derived a coordinate-free form of equations of motion for a complete model of a quadrotor UAV with a payload which is connected via a flexible cable according to Lagrangian mechanics on a manifold. The flexible cable is modeled as a system of serially-connected links and has been considered in the full dynamic model. A geometric nonlinear control system is presented to asymptotically stabilize the position of the quadrotor while aligning the links to the vertical direction below the quadrotor. Numerical simulation and experimental results are presented and a rigorous stability analysis is provided to confirm the accuracy of our derivations. These results will be particularly useful for aggressive load transportation that involves large deformation of the cable.

KW - Aerial load transportation

KW - geometric control

KW - unmanned aerial vehicle

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JF - International Journal of Control, Automation and Systems

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Geometric control of a quadrotor UAV transporting a payload connected via flexible cable

Abstract

All Science Journal Classification (ASJC) codes

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