Path-following control for an unmanned aerial vehicle slung load system

Mohamed Al Lawati; Alan F. Lynch

doi:10.1080/00207179.2023.2282062

Path-following control for an unmanned aerial vehicle slung load system

Mohamed Al Lawati, Alan F. Lynch^*

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

2 Citations (Scopus)

Abstract

A multirotor unmanned aerial vehicle (UAV) slung load system (SLS) is a nonlinear dynamics with eight degrees of freedom and four inputs that can be used for load transportation. The suspended payload can be modelled as a two degree-of-freedom pendulum attached to the UAV. This paper presents a path-following control (PFC) for an SLS. The PFC renders motions along any smooth Jordan curve in (Formula presented.) for payload position controlled-invariant. This property has practical benefits over traditional time-based trajectory tracking. Furthermore, the PFC prescribes UAV yaw and a desired payload speed profiles along the path. The PFC adopts dynamic extension and input-output state feedback linearisation. The closed-loop has a 1-dimensional zero-dynamics which is shown to be bounded. Hence, the PFC error dynamics is exponentially stable. Simulations are provided to validate the design.

Original language	English
Journal	International Journal of Control
DOIs	https://doi.org/10.1080/00207179.2023.2282062
Publication status	Accepted/In press - 2023

Keywords

feedback linearisation
nonlinear control
Path following
unmanned aerial vehicles (UAV)

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications

Access to Document

10.1080/00207179.2023.2282062

Cite this

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title = "Path-following control for an unmanned aerial vehicle slung load system",

abstract = "A multirotor unmanned aerial vehicle (UAV) slung load system (SLS) is a nonlinear dynamics with eight degrees of freedom and four inputs that can be used for load transportation. The suspended payload can be modelled as a two degree-of-freedom pendulum attached to the UAV. This paper presents a path-following control (PFC) for an SLS. The PFC renders motions along any smooth Jordan curve in (Formula presented.) for payload position controlled-invariant. This property has practical benefits over traditional time-based trajectory tracking. Furthermore, the PFC prescribes UAV yaw and a desired payload speed profiles along the path. The PFC adopts dynamic extension and input-output state feedback linearisation. The closed-loop has a 1-dimensional zero-dynamics which is shown to be bounded. Hence, the PFC error dynamics is exponentially stable. Simulations are provided to validate the design.",

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T1 - Path-following control for an unmanned aerial vehicle slung load system

AU - Al Lawati, Mohamed

AU - Lynch, Alan F.

PY - 2023

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AB - A multirotor unmanned aerial vehicle (UAV) slung load system (SLS) is a nonlinear dynamics with eight degrees of freedom and four inputs that can be used for load transportation. The suspended payload can be modelled as a two degree-of-freedom pendulum attached to the UAV. This paper presents a path-following control (PFC) for an SLS. The PFC renders motions along any smooth Jordan curve in (Formula presented.) for payload position controlled-invariant. This property has practical benefits over traditional time-based trajectory tracking. Furthermore, the PFC prescribes UAV yaw and a desired payload speed profiles along the path. The PFC adopts dynamic extension and input-output state feedback linearisation. The closed-loop has a 1-dimensional zero-dynamics which is shown to be bounded. Hence, the PFC error dynamics is exponentially stable. Simulations are provided to validate the design.

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KW - Path following

KW - unmanned aerial vehicles (UAV)

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Path-following control for an unmanned aerial vehicle slung load system

Abstract

Keywords

ASJC Scopus subject areas

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