Suspended Load Path Tracking Control Strategy using a Tilt-rotor UAV

Autores
Alves Dos Santos, Marcio; Rego, B. S.; Raffo, Guilherme V.; Ferramosca, Antonio
Año de publicación
2017
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This work proposes a control strategy to solve the path tracking problem of a suspended load carried by a tilt-rotor unmanned aerial vehicle (UAV). Initially, the equations of motion for the multibody mechanical system are derived from the load’s perspective by means of the Euler-Lagrange formulation, in which the load’s position and orientation are chosen as degrees of freedom. An unscented Kalman filter (UKF) is designed for nonlinear state estimation of all the system states, assuming that available information is provided by noisy sensors with different sampling rates that do not directly measure the load’s attitude. Furthermore, a model predictive control (MPC) strategy is proposed for path tracking of the suspended load with stabilization of the tilt-rotor UAV when parametric uncertainties and external disturbances affect the load, the rope’s length and total system mass vary during taking-off and landing, and the desired yaw angle changes throughout the trajectory. Finally, numerical experiments are presented to corroborate the good performance of the proposed strategy.
Fil: Alves Dos Santos, Marcio. Universidade Federal de Minas Gerais; Brasil
Fil: Rego, B. S.. Universidade Federal de Minas Gerais; Brasil
Fil: Raffo, Guilherme V.. Universidade Federal de Minas Gerais; Brasil
Fil: Ferramosca, Antonio. Universidad Tecnológica Nacional; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe; Argentina
Materia
LOAD TRANSPORTATION
TILT-ROTOR UAV
PATH-TRACKING CONTROL
STATE ESTIMATION
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/43799
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/43799
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling Suspended Load Path Tracking Control Strategy using a Tilt-rotor UAVAlves Dos Santos, MarcioRego, B. S.Raffo, Guilherme V.Ferramosca, AntonioLOAD TRANSPORTATIONTILT-ROTOR UAVPATH-TRACKING CONTROLSTATE ESTIMATIONhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This work proposes a control strategy to solve the path tracking problem of a suspended load carried by a tilt-rotor unmanned aerial vehicle (UAV). Initially, the equations of motion for the multibody mechanical system are derived from the load’s perspective by means of the Euler-Lagrange formulation, in which the load’s position and orientation are chosen as degrees of freedom. An unscented Kalman filter (UKF) is designed for nonlinear state estimation of all the system states, assuming that available information is provided by noisy sensors with different sampling rates that do not directly measure the load’s attitude. Furthermore, a model predictive control (MPC) strategy is proposed for path tracking of the suspended load with stabilization of the tilt-rotor UAV when parametric uncertainties and external disturbances affect the load, the rope’s length and total system mass vary during taking-off and landing, and the desired yaw angle changes throughout the trajectory. Finally, numerical experiments are presented to corroborate the good performance of the proposed strategy.Fil: Alves Dos Santos, Marcio. Universidade Federal de Minas Gerais; BrasilFil: Rego, B. S.. Universidade Federal de Minas Gerais; BrasilFil: Raffo, Guilherme V.. Universidade Federal de Minas Gerais; BrasilFil: Ferramosca, Antonio. Universidad Tecnológica Nacional; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe; ArgentinaInst Transportation2017-10info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/43799Alves Dos Santos, Marcio; Rego, B. S.; Raffo, Guilherme V.; Ferramosca, Antonio; Suspended Load Path Tracking Control Strategy using a Tilt-rotor UAV; Inst Transportation; Journal Of Advanced Transportation; 2017; 9095324; 10-2017; 1-230197-6729CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://www.hindawi.com/journals/jat/2017/9095324/info:eu-repo/semantics/altIdentifier/doi/10.1155/2017/9095324info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-10-15T14:55:30Zoai:ri.conicet.gov.ar:11336/43799instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-10-15 14:55:30.674CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Suspended Load Path Tracking Control Strategy using a Tilt-rotor UAV
title Suspended Load Path Tracking Control Strategy using a Tilt-rotor UAV
spellingShingle Suspended Load Path Tracking Control Strategy using a Tilt-rotor UAV
Alves Dos Santos, Marcio
LOAD TRANSPORTATION
TILT-ROTOR UAV
PATH-TRACKING CONTROL
STATE ESTIMATION
title_short Suspended Load Path Tracking Control Strategy using a Tilt-rotor UAV
title_full Suspended Load Path Tracking Control Strategy using a Tilt-rotor UAV
title_fullStr Suspended Load Path Tracking Control Strategy using a Tilt-rotor UAV
title_full_unstemmed Suspended Load Path Tracking Control Strategy using a Tilt-rotor UAV
title_sort Suspended Load Path Tracking Control Strategy using a Tilt-rotor UAV
dc.creator.none.fl_str_mv Alves Dos Santos, Marcio
Rego, B. S.
Raffo, Guilherme V.
Ferramosca, Antonio
author Alves Dos Santos, Marcio
author_facet Alves Dos Santos, Marcio
Rego, B. S.
Raffo, Guilherme V.
Ferramosca, Antonio
author_role author
author2 Rego, B. S.
Raffo, Guilherme V.
Ferramosca, Antonio
author2_role author
author
author
dc.subject.none.fl_str_mv LOAD TRANSPORTATION
TILT-ROTOR UAV
PATH-TRACKING CONTROL
STATE ESTIMATION
topic LOAD TRANSPORTATION
TILT-ROTOR UAV
PATH-TRACKING CONTROL
STATE ESTIMATION
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv This work proposes a control strategy to solve the path tracking problem of a suspended load carried by a tilt-rotor unmanned aerial vehicle (UAV). Initially, the equations of motion for the multibody mechanical system are derived from the load’s perspective by means of the Euler-Lagrange formulation, in which the load’s position and orientation are chosen as degrees of freedom. An unscented Kalman filter (UKF) is designed for nonlinear state estimation of all the system states, assuming that available information is provided by noisy sensors with different sampling rates that do not directly measure the load’s attitude. Furthermore, a model predictive control (MPC) strategy is proposed for path tracking of the suspended load with stabilization of the tilt-rotor UAV when parametric uncertainties and external disturbances affect the load, the rope’s length and total system mass vary during taking-off and landing, and the desired yaw angle changes throughout the trajectory. Finally, numerical experiments are presented to corroborate the good performance of the proposed strategy.
Fil: Alves Dos Santos, Marcio. Universidade Federal de Minas Gerais; Brasil
Fil: Rego, B. S.. Universidade Federal de Minas Gerais; Brasil
Fil: Raffo, Guilherme V.. Universidade Federal de Minas Gerais; Brasil
Fil: Ferramosca, Antonio. Universidad Tecnológica Nacional; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe; Argentina
description This work proposes a control strategy to solve the path tracking problem of a suspended load carried by a tilt-rotor unmanned aerial vehicle (UAV). Initially, the equations of motion for the multibody mechanical system are derived from the load’s perspective by means of the Euler-Lagrange formulation, in which the load’s position and orientation are chosen as degrees of freedom. An unscented Kalman filter (UKF) is designed for nonlinear state estimation of all the system states, assuming that available information is provided by noisy sensors with different sampling rates that do not directly measure the load’s attitude. Furthermore, a model predictive control (MPC) strategy is proposed for path tracking of the suspended load with stabilization of the tilt-rotor UAV when parametric uncertainties and external disturbances affect the load, the rope’s length and total system mass vary during taking-off and landing, and the desired yaw angle changes throughout the trajectory. Finally, numerical experiments are presented to corroborate the good performance of the proposed strategy.
publishDate 2017
dc.date.none.fl_str_mv 2017-10
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/43799
Alves Dos Santos, Marcio; Rego, B. S.; Raffo, Guilherme V.; Ferramosca, Antonio; Suspended Load Path Tracking Control Strategy using a Tilt-rotor UAV; Inst Transportation; Journal Of Advanced Transportation; 2017; 9095324; 10-2017; 1-23
0197-6729
CONICET Digital
CONICET
url http://hdl.handle.net/11336/43799
identifier_str_mv Alves Dos Santos, Marcio; Rego, B. S.; Raffo, Guilherme V.; Ferramosca, Antonio; Suspended Load Path Tracking Control Strategy using a Tilt-rotor UAV; Inst Transportation; Journal Of Advanced Transportation; 2017; 9095324; 10-2017; 1-23
0197-6729
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://www.hindawi.com/journals/jat/2017/9095324/
info:eu-repo/semantics/altIdentifier/doi/10.1155/2017/9095324
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Inst Transportation
publisher.none.fl_str_mv Inst Transportation
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1846083089623678976
score 13.22299

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