Visual Servoing-Based Anti-Swing Control of Cable-Suspended Aerial Transportation Systems With Variable-Length Cable

Abstract

By utilizing a suspension cable to connect the payload with the quadrotor, transport tasks can be accomplished while preserving the unmanned aerial vehicle’s agility and maneuverability, particularly in environments that are impassable for ground vehicles. Equipping onboard visual sensors and utilizing image-based visual servoing techniques, the application range of aerial transportation systems is poised to be significantly expanded in scenarios like autonomous landing and goods release. Unfortunately, within the system, there exist multiple layers of dynamic couplings between image features, quadrotor rotation, translation, and payload motion. These intricacies give rise to numerous difficulties in achieving smooth anti-swing transportation. To overcome the aforementioned difficulties, this paper presents the first image-based visual servoing control scheme for the aerial transportation system with variable-length cable. Specifically, the image moments defined on the rotated virtual image plane are taken as the image features, whose dynamics is independent of the quadrotor rotational motion. Subsequently, a generalized virtual image feature signal is introduced by organically combining the cable length and payload swing angles with the image feature, which is further exploited in the anti-swing control scheme design. The equilibrium point of the overall closed-loop system is proved to be asymptotically stable through Lyapunov techniques and LaSalle’s Invariance Theorem. Hardware experiments are conducted on a self-built aerial transportation platform to verify the proposed controller’s basic and functional performance in terms of rapid anti-swing and accurate target position and cable length tracking. Note to Practitioners—This paper is motivated by the requirement to improve the autonomy level and payload swing suppression ability of the aerial transportation system through visual servoing techniques. By installing onboard monocular camera and the cable length adjustment mechanism, the application scope of the aerial transportation system can be significantly expanded. However, due to the “double” underactuated characteristic, the visual features couple with both the quadrotor motion and the payload motion, hence, it is quite challenging to realize visual servoing control for cable-suspended aerial transportation systems with simultaneous payload swing suppression and quadrotor positioning. Accounting for the foregoing problems, this paper proposes an image-based visual servoing anti-swing control scheme. With the elaborately constructed generalized virtual image feature signal, the designed controller could improve the anti-swing ability with a completed theoretical analysis. Furthermore, two groups of hardware experiments are conducted to validate the effectiveness of the suggested control method. In future studies, we intend to design more effective control scheme for payload delivery issue with consideration of the visibility of the mobile platform.