Volume 19, Issue 4 (2019)                   Modares Mechanical Engineering 2019, 19(4): 887-899 | Back to browse issues page

XML Persian Abstract Print


Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:

Mohammadi A, Abbasi E, Ghayour M, Danesh M. Formation Control and Path Tracking for a Group of Quadrotors to Carry Out a Suspended Load. Modares Mechanical Engineering. 2019; 19 (4) :887-899
URL: http://journals.modares.ac.ir/article-15-20987-en.html
1- Department of Mechanical Engineering, Isfahan University of Technology, Isfahan, Iran
2- Department of Mechanical Engineering, Isfahan University of Technology, Isfahan, Iran , ghayour@cc.iut.ac.ir
Abstract:   (863 Views)

In this research, the objective is using 4 quadrotors in a group to carry out a certain weighted load. The load is connected by cables to each quadrotor. The equations of motion of the quadrotors are considered completely and without simplification. Unlike other researches, to express the relationship between the load and the quadrotors, the ropes are considered as springs, so they are pulled out and retracted during the mission. Formation control design and path tracking by the group is done by using feedback linearization control. Control protocol design is presented in two structure, centralized, and decentralized. Unlike other papers, in decentralized structure, there is no information communication between the agents to reduce the communication costs. The mission of the group is defined as the quadrotors first pick off the load from the ground and, then, track the desired path to reach the target point. When the load reaches the target point, the quadrotors should put the load on the ground and, then, land themselves. Cutting the cable of one of the quadrotors is applied to the system as a fault and in addition to providing a method to detect its occurrence, the performance of the centralized controller is checked in this situation.
 

Full-Text [PDF 1367 kb]   (359 Downloads)    

Received: 2018/05/18 | Accepted: 2018/11/19 | Published: 2019/04/6

References
1. Tofigh MA, Mahjoob M, Ayati M. Modeling and nonlinear tracking control of a novel multi-rotor UAV. Modares Mechanical Engineering. 2015;15(8):281-90. [Persian] [Link]
2. Yang Ch, Yang Z, Huang X, Li Sh, Zhang Q. Modeling and robust trajectory tracking control for a novel six-rotor unmanned aerial vehicle. Mathematical Problems in Engineering. 2013;2013:673525. [Link]
3. Alaimo A, Artale V, Milazzo CLR, Ricciardello A. PID controller applied to hexacopter flight. Journal of Intelligent and Robotic Systems. 2014;73(1-4):261-270. [Link] [DOI:10.1007/s10846-013-9947-y]
4. Sámano A, Castro R, Lozano R, Salazar S. Modeling and stabilization of a multi-rotor helicopter. Journal of Intelligent and Robotic Systems. 2013;69(1-4):161-169. [Link] [DOI:10.1007/s10846-012-9731-4]
5. Sreenath K, Kumar V. Dynamics, control and planning for cooperative manipulation of payloads suspended by cables from multiple quadrotor robots. Robotics: Science and Systems, Conference, 24-28 June, 2013, Berlin, Germany. Robotics: Science and Systems online proceeding; 2013. [Link]
6. Wu G, Sreenath K. Geometric control of multiple quadrotors transporting a rigid-body load. 53rd IEEE Conference on Decision and Control, 15-17 December, 2014, Los Angeles, California, USA. Piscataway: IEEE; 2014. [Link] [DOI:10.1109/CDC.2014.7040351]
7. Pizetta IHB, Brandão AS, Sarcinelli-Filho M. Cooperative quadrotors carrying a suspended load. International Conference on Unmanned Aircraft Systems (ICUAS), 7-10 June, 2016, Arlington, Virginia, USA. Piscataway: IEEE; 2016. [Link] [DOI:10.1109/ICUAS.2016.7502605]
8. Salehzadeh Aghdam A, Menhaj MB, Barazandeh F, Abdollahi F. Cooperative load transport with movable load center of mass using multiple quadrotor UAVs. 4th International Conference on Control, Instrumentation, and Automation (ICCIA), 27-28 January, 2016, Qazvin, Iran. Piscataway: IEEE; 2016. [Link]
9. Faelden GEU, Maningo JMZ, Nakano RCS, Bandala AA, Dadios EP. A neural network approach to a cooperative balancing problem in quadrotor-unmanned aerial vehicles (QUAVs). International Conference on Humanoid, Nanotechnology, Information Technology,Communication and Control, Environment and Management (HNICEM), 9-12 December, 2015, Cebu City, Philippines. Piscataway: IEEE; 2015. [Link] [DOI:10.1109/HNICEM.2015.7393219]
10. Dydek ZT, Annaswamy AM, Lavretsky E. Adaptive configuration control of multiple UAVs. Control Engineering Practice. 2013;21(8):1043-1052. [Link] [DOI:10.1016/j.conengprac.2013.03.010]
11. Guerrero JA, Castillo P, Challal Y. Trajectory tracking for a group of mini rotorcraft flying in formation. IFAC Proceeding Volumes. 2011;44(1):6331-6336. [Link] [DOI:10.3182/20110828-6-IT-1002.03504]
12. Tartaglione G, D'Amato E, Ariola M, Rossi PS, Johansen TA. Model predictive control for a multi-body slung-load system. Robotics and Autonomous Systems. 2017;92:1-11. [Link] [DOI:10.1016/j.robot.2017.02.007]
13. Gassner M, Cieslewski T, Scaramuzza D. Dynamic collaboration without communication: Vision-based cable-suspended load transport with two quadrotors. IEEE International Conference on Robotics and Automation (ICRA), 29 May-3 June, 2017, Singapore, Singapore. Piscataway: IEEE; 2017. [Link] [DOI:10.1109/ICRA.2017.7989609]
14. Lee H, Kim HJ. Constraint-based cooperative control of multiple aerial manipulators for handling an unknown payload. IEEE Transactions on Industrial Informatics. 2017;13(6):2780-2790. [Link] [DOI:10.1109/TII.2017.2692270]
15. Lee T. Geometric control of quadrotor UAVs transporting a cable-suspended rigid body. IEEE Transactions on Control Systems Technology. 2018;26(1):255-264. [Link] [DOI:10.1109/TCST.2017.2656060]
16. Caccavale F, Giglio G, Muscio G, Pierri F. Cooperative impedance control for multiple UAVs with a robotic arm. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 28 September-2 October, 2015, Hamburg, Germany. Piscataway: IEEE; 2015. [Link] [DOI:10.1109/IROS.2015.7353697]
17. Kotaru P, Wu G, Sreenath K. Dynamics and control of a quadrotor with a payload suspended through an elastic cable. American Control Conference (ACC), 24-26 May, 2017, Seattle, Washington DC, USA. Piscataway: IEEE; 2017. [Link] [DOI:10.23919/ACC.2017.7963553]
18. Abbasi E, Ghayour M, Danesh M. Virtual Leader-Follower Formation Control of Multi Quadrotors by using Feedback Linearization Controller. 5th RSI International Conference on Robotics and Mechatronics (ICRoM), 25-27 Oct, 2017, Tehran, Iran. Piscataway: IEEE; 2017. [Link] [DOI:10.1109/ICRoM.2017.8466165]

Add your comments about this article : Your username or Email:
CAPTCHA

Send email to the article author