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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Recommended by Associate Editor Sung Jin Yoo under the direction of Editor Myotaeg Lim.
This research has been supported in part by NSF under the grants CMMI-1243000 (transferred from 1029551), CMMI-1335008, and CNS-1337722.
Farhad A. Goodarzi received his B.S. and M.S. degrees in Mechanical Engineering from Sharif University of Technology and Santa Clara University, CA, in 2009 and 2011, respectively. Currently, he is a Ph.D. candidate in ME department at The George Washington University. His research interests include control of complex systems and its application such as autonomous load transportation using multiple quadrotor UAV’s.
Daewon Lee received his B.S., M.S. and Ph.D. degrees in Mechanical Engineering from Seoul National University. He is currently a Post doctoral fellow in Mechanical and Aerospace Engineering Department at The George Washington University. His research interests include control theory and its application to control of the quadrotor UAV’s.
Taeyoung Lee is an assistant professor of the Department of Mechanical and Aerospace Engineering at the George Washington University. He received his doctoral degree in Aerospace Engineering and his master’s degree in Mathematics at the University of Michigan in 2008. His research interests include computational geometric mechanics and control of complex systems.
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Goodarzi, F.A., Lee, D. & Lee, T. Geometric control of a quadrotor UAV transporting a payload connected via flexible cable. Int. J. Control Autom. Syst. 13, 1486–1498 (2015). https://doi.org/10.1007/s12555-014-0304-0
- Aerial load transportation
- geometric control
- unmanned aerial vehicle