Suspended Load Path Tracking Control Strategy Using a Tilt-Rotor UAV
This work proposes a control strategy to solve the path tracking problem of a suspended load carried by a tilt-rotor unmanned aerial vehicle (UAV). Initially, the equations of motion for the multibody mechanical system are derived from the load’s perspective by means of the Euler-Lagrange formulatio...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2017-01-01
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| Series: | Journal of Advanced Transportation |
| Online Access: | http://dx.doi.org/10.1155/2017/9095324 |
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| _version_ | 1832551386336722944 |
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| author | M. A. Santos B. S. Rego G. V. Raffo A. Ferramosca |
| author_facet | M. A. Santos B. S. Rego G. V. Raffo A. Ferramosca |
| author_sort | M. A. Santos |
| collection | DOAJ |
| description | This work proposes a control strategy to solve the path tracking problem of a suspended load carried by a tilt-rotor unmanned aerial vehicle (UAV). Initially, the equations of motion for the multibody mechanical system are derived from the load’s perspective by means of the Euler-Lagrange formulation, in which the load’s position and orientation are chosen as degrees of freedom. An unscented Kalman filter (UKF) is designed for nonlinear state estimation of all the system states, assuming that available information is provided by noisy sensors with different sampling rates that do not directly measure the load’s attitude. Furthermore, a model predictive control (MPC) strategy is proposed for path tracking of the suspended load with stabilization of the tilt-rotor UAV when parametric uncertainties and external disturbances affect the load, the rope’s length and total system mass vary during taking-off and landing, and the desired yaw angle changes throughout the trajectory. Finally, numerical experiments are presented to corroborate the good performance of the proposed strategy. |
| format | Article |
| id | doaj-art-31b48606665d436495a9c29bd6688f03 |
| institution | Kabale University |
| issn | 0197-6729 2042-3195 |
| language | English |
| publishDate | 2017-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Advanced Transportation |
| spelling | doaj-art-31b48606665d436495a9c29bd6688f032025-02-03T06:01:32ZengWileyJournal of Advanced Transportation0197-67292042-31952017-01-01201710.1155/2017/90953249095324Suspended Load Path Tracking Control Strategy Using a Tilt-Rotor UAVM. A. Santos0B. S. Rego1G. V. Raffo2A. Ferramosca3Graduate Program in Electrical Engineering, Federal University of Minas Gerais, 31270-901 Belo Horizonte, MG, BrazilGraduate Program in Electrical Engineering, Federal University of Minas Gerais, 31270-901 Belo Horizonte, MG, BrazilGraduate Program in Electrical Engineering, Federal University of Minas Gerais, 31270-901 Belo Horizonte, MG, BrazilCONICET-Universidad Tecnológica Nacional (UTN), Facultad Regional de Reconquista, 27 de Abril 1000, 3560 Reconquista, Santa Fe, ArgentinaThis work proposes a control strategy to solve the path tracking problem of a suspended load carried by a tilt-rotor unmanned aerial vehicle (UAV). Initially, the equations of motion for the multibody mechanical system are derived from the load’s perspective by means of the Euler-Lagrange formulation, in which the load’s position and orientation are chosen as degrees of freedom. An unscented Kalman filter (UKF) is designed for nonlinear state estimation of all the system states, assuming that available information is provided by noisy sensors with different sampling rates that do not directly measure the load’s attitude. Furthermore, a model predictive control (MPC) strategy is proposed for path tracking of the suspended load with stabilization of the tilt-rotor UAV when parametric uncertainties and external disturbances affect the load, the rope’s length and total system mass vary during taking-off and landing, and the desired yaw angle changes throughout the trajectory. Finally, numerical experiments are presented to corroborate the good performance of the proposed strategy.http://dx.doi.org/10.1155/2017/9095324 |
| spellingShingle | M. A. Santos B. S. Rego G. V. Raffo A. Ferramosca Suspended Load Path Tracking Control Strategy Using a Tilt-Rotor UAV Journal of Advanced Transportation |
| title | Suspended Load Path Tracking Control Strategy Using a Tilt-Rotor UAV |
| title_full | Suspended Load Path Tracking Control Strategy Using a Tilt-Rotor UAV |
| title_fullStr | Suspended Load Path Tracking Control Strategy Using a Tilt-Rotor UAV |
| title_full_unstemmed | Suspended Load Path Tracking Control Strategy Using a Tilt-Rotor UAV |
| title_short | Suspended Load Path Tracking Control Strategy Using a Tilt-Rotor UAV |
| title_sort | suspended load path tracking control strategy using a tilt rotor uav |
| url | http://dx.doi.org/10.1155/2017/9095324 |
| work_keys_str_mv | AT masantos suspendedloadpathtrackingcontrolstrategyusingatiltrotoruav AT bsrego suspendedloadpathtrackingcontrolstrategyusingatiltrotoruav AT gvraffo suspendedloadpathtrackingcontrolstrategyusingatiltrotoruav AT aferramosca suspendedloadpathtrackingcontrolstrategyusingatiltrotoruav |