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Stability of load lifting by a quadrotor under attitude control delay
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-5840-3767
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0001-7309-8086
2017 (English)In: Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc. , 2017, p. 3287-3292Conference paper, Published paper (Refereed)
Abstract [en]

We propose a control law for stabilization of a quadrotor-load system, and provide conditions on the control law's gains that guarantee exponential stability of the equilibrium. The system is composed of a load and an unmanned aerial vehicle (UAV) attached to each other by a cable of fixed length, which behaves as a rigid link under tensile forces; and the control input is composed of a three dimensional force requested to the UAV, which the UAV provides with or without delay. Given the proposed control law, we analyze the stability of the equilibrium in two separate parts. In the first, the system is modeled assuming that the UAV provides the requested control input without delay, and we verify that the equilibrium is exponentially stable. In the second part, the UAV is modeled as possessing an attitude inner loop, and we provide a lower bound on the attitude gain for which exponential stability of the equilibrium is preserved. An integral action term is also included in the control law, which compensates for battery drainage or model mismatches, such as an unknown load mass. We present experiments for different scenarios that demonstrate and validate the robustness of the proposed control law.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers Inc. , 2017. p. 3287-3292
Keywords [en]
Attitude control, Control theory, Robotics, Stability, Stabilization, Unmanned aerial vehicles (UAV), Battery drainage, Control inputs, Exponentially stable, Integral action, Load systems, Model mismatch, Tensile forces, Three dimensional forces, Aircraft control
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-216278DOI: 10.1109/ICRA.2017.7989374Scopus ID: 2-s2.0-85028001018ISBN: 9781509046331 OAI: oai:DiVA.org:kth-216278DiVA, id: diva2:1165679
Conference
2017 IEEE International Conference on Robotics and Automation, ICRA 2017, 29 May 2017 through 3 June 2017
Note

QC 20171213

Available from: 2017-12-13 Created: 2017-12-13 Last updated: 2017-12-13Bibliographically approved

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Ótão Pereira, Pedro MiguelDimarogonas, Dimos V.

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Ótão Pereira, Pedro MiguelDimarogonas, Dimos V.
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Automatic ControlACCESS Linnaeus CentreCentre for Autonomous Systems, CAS
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