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Pose and position trajectory tracking for aerial transportation of a rod-like object
KTH, School of Electrical Engineering and Computer Science (EECS).
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0001-7309-8086
2019 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 109, article id 108547Article in journal (Refereed) Published
Abstract [en]

This paper focuses on a pose tracking problem for a system composed of two connected rigid bodies, namely an aerial vehicle - with hovering capabilities - and a rod-like rigid body. The rod-like rigid body has an axis of axial symmetry, and the joint connecting the aerial vehicle and the rod lies along that axis. The aerial vehicle is meant to transport that object, which can swing/slung with respect to the vehicle: we refer to this as generalized slung load transportation because the object being transported is a rod-like object, as opposed to standard slung load transportation where the object is a point mass with no moment of inertia. Given this system, we consider two tracking problems. Firstly, we assume that a torque input on the joint is available, and, for this scenario, we formulate a semi-pose tracking problem, requiring the rod object to track a desired pose trajectory, apart from rotations around its axis of axial symmetry (and thus the semi qualifier). Secondly, we assume that no such torque input is available, and, for this scenario, we formulate a position tracking problem, requiring a specific point along the axis of axial symmetry of the rod object to track a desired position trajectory. Our approach for solving both these problems lies in finding a state and an input transformations, such that the vector field in the new coordinates is of a known form for which controllers are found in the literature, and which we leverage in this paper. Simulations are presented that validate the proposed algorithms. 2019 Elsevier Ltd. All rights reserved.

Place, publisher, year, edition, pages
PERGAMON-ELSEVIER SCIENCE LTD , 2019. Vol. 109, article id 108547
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Electrical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-262764DOI: 10.1016/j.automatica.2019.108547ISI: 000488416900011Scopus ID: 2-s2.0-85071471700OAI: oai:DiVA.org:kth-262764DiVA, id: diva2:1363184
Note

QC 20191022

Available from: 2019-10-22 Created: 2019-10-22 Last updated: 2019-11-26Bibliographically approved

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Dimarogonas, Dimos V.

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Pereira, Pedro O.Dimarogonas, Dimos V.
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School of Electrical Engineering and Computer Science (EECS)Decision and Control Systems (Automatic Control)
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