{"title":"悬挂负载下不平衡无人机的自适应最优控制器设计","authors":"Mohamed Tolba, Bijan Shirinzadeh, Gamal El-Bayoumi, Osama Mohamady","doi":"10.1007/s10514-023-10090-z","DOIUrl":null,"url":null,"abstract":"<div><p>Load transportation by Unmanned Aerial Vehicles is a research topic of great interest to the robotic community for its numerous applications in both the civilian and military fields. Attaching a cargo through an elastic cable to a small underactuated UAV such as a quadcopter, which is inherently an unstable system, increases its instability and its underactuated degrees of freedom by three. Moreover, the presence of imperfections in the system such as having the quadcopter’s center of gravity and the cable hanging point arbitrarily shifted from the quadcopter’s geometric centroid further complicates the system. In this paper, a new nonlinear nine degree-of-freedom mathematical model is formulated for a quadcopter when its center of gravity is shifted from its geometric centroid and when a cable-suspended load is attached at an arbitrary position. Thus, a novel adaptive controller based on Linear Quadratic Regulator is designed to control the position and attitude of the quadcopter while minimizing the swinging and radial motions of the suspended load. Subsequently, nonlinear simulations are conducted for three case studies: conventional quadcopter, quadcopter-payload system without imperfections, quadcopter-payload system with imperfections. Finally, the results are presented demonstrating the effectiveness of the proposed control strategy.</p></div>","PeriodicalId":55409,"journal":{"name":"Autonomous Robots","volume":null,"pages":null},"PeriodicalIF":3.7000,"publicationDate":"2023-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s10514-023-10090-z.pdf","citationCount":"2","resultStr":"{\"title\":\"Adaptive optimal controller design for an unbalanced UAV with slung load\",\"authors\":\"Mohamed Tolba, Bijan Shirinzadeh, Gamal El-Bayoumi, Osama Mohamady\",\"doi\":\"10.1007/s10514-023-10090-z\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>Load transportation by Unmanned Aerial Vehicles is a research topic of great interest to the robotic community for its numerous applications in both the civilian and military fields. Attaching a cargo through an elastic cable to a small underactuated UAV such as a quadcopter, which is inherently an unstable system, increases its instability and its underactuated degrees of freedom by three. Moreover, the presence of imperfections in the system such as having the quadcopter’s center of gravity and the cable hanging point arbitrarily shifted from the quadcopter’s geometric centroid further complicates the system. In this paper, a new nonlinear nine degree-of-freedom mathematical model is formulated for a quadcopter when its center of gravity is shifted from its geometric centroid and when a cable-suspended load is attached at an arbitrary position. Thus, a novel adaptive controller based on Linear Quadratic Regulator is designed to control the position and attitude of the quadcopter while minimizing the swinging and radial motions of the suspended load. Subsequently, nonlinear simulations are conducted for three case studies: conventional quadcopter, quadcopter-payload system without imperfections, quadcopter-payload system with imperfections. Finally, the results are presented demonstrating the effectiveness of the proposed control strategy.</p></div>\",\"PeriodicalId\":55409,\"journal\":{\"name\":\"Autonomous Robots\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":3.7000,\"publicationDate\":\"2023-02-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://link.springer.com/content/pdf/10.1007/s10514-023-10090-z.pdf\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Autonomous Robots\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://link.springer.com/article/10.1007/s10514-023-10090-z\",\"RegionNum\":3,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Autonomous Robots","FirstCategoryId":"94","ListUrlMain":"https://link.springer.com/article/10.1007/s10514-023-10090-z","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE","Score":null,"Total":0}
Adaptive optimal controller design for an unbalanced UAV with slung load
Load transportation by Unmanned Aerial Vehicles is a research topic of great interest to the robotic community for its numerous applications in both the civilian and military fields. Attaching a cargo through an elastic cable to a small underactuated UAV such as a quadcopter, which is inherently an unstable system, increases its instability and its underactuated degrees of freedom by three. Moreover, the presence of imperfections in the system such as having the quadcopter’s center of gravity and the cable hanging point arbitrarily shifted from the quadcopter’s geometric centroid further complicates the system. In this paper, a new nonlinear nine degree-of-freedom mathematical model is formulated for a quadcopter when its center of gravity is shifted from its geometric centroid and when a cable-suspended load is attached at an arbitrary position. Thus, a novel adaptive controller based on Linear Quadratic Regulator is designed to control the position and attitude of the quadcopter while minimizing the swinging and radial motions of the suspended load. Subsequently, nonlinear simulations are conducted for three case studies: conventional quadcopter, quadcopter-payload system without imperfections, quadcopter-payload system with imperfections. Finally, the results are presented demonstrating the effectiveness of the proposed control strategy.
期刊介绍:
Autonomous Robots reports on the theory and applications of robotic systems capable of some degree of self-sufficiency. It features papers that include performance data on actual robots in the real world. Coverage includes: control of autonomous robots · real-time vision · autonomous wheeled and tracked vehicles · legged vehicles · computational architectures for autonomous systems · distributed architectures for learning, control and adaptation · studies of autonomous robot systems · sensor fusion · theory of autonomous systems · terrain mapping and recognition · self-calibration and self-repair for robots · self-reproducing intelligent structures · genetic algorithms as models for robot development.
The focus is on the ability to move and be self-sufficient, not on whether the system is an imitation of biology. Of course, biological models for robotic systems are of major interest to the journal since living systems are prototypes for autonomous behavior.