Hostname: page-component-cd9895bd7-fscjk Total loading time: 0 Render date: 2024-12-23T15:43:46.419Z Has data issue: false hasContentIssue false
  • English
  • Français

Cooperative parameter estimation of a nonuniform payload by multiple quadrotors

Published online by Cambridge University Press:  29 September 2021

Farhad Arab ,
Farzad A. Shirazi Open the ORCID record for Farzad A. Shirazi [Opens in a new window]  and
Mohammad Reza Hairi Yazdi
Farhad Arab
Affiliation:
School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran
Farzad A. Shirazi*
Affiliation:
School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran
Mohammad Reza Hairi Yazdi
Affiliation:
School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Abstract

Thispaper addresses the problem of carrying an unknown nonuniform payload by multiple quadrotor agents. The load is modeled as a rigid body with unknown weight and position of Center of Gravity (CG) for the agents, and is included in their dynamic equations of motion. The agents and the load are assumed to be connected to each other by taut ropes. The Udwadia–Kalaba equation is used to calculate the constraint forces on the ropes acting on each quadrotor. Inner-loop and outer-loop controllers for quadrotors position and attitude control are presented. For the outer loop, an estimation algorithm based on the invariance and immersion adaptive control is utilized to estimate the unknown physical parameters of the payload including mass and CG position without using multi-axes force/torque sensors. The inner-loop controller employs an adaptive controller. Simulation results, for two and four agents carrying a nonuniform rod and cubic payload, show the effectiveness of the proposed algorithm. A case study is also performed to investigate the effect of quadrotors positioning on flight endurance of the cooperative aerial team carrying a nonuniform payload.

Keywords

aerial load transportationestimationadaptive controlquadrotors
Type
Research Article
Information
Robotica , Volume 40 , Issue 5 , May 2022 , pp. 1587 - 1606
Copyright
© The Author(s), 2021. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Vahdanipour, M. and Khodabandeh, M., “Adaptive fractional order sliding mode control for a quadrotor with a varying load,” Aerosp. Sci. Technol. 86, 737–747 (2019).CrossRefGoogle Scholar
Neumann, M. A. and Kitts, C. A., “A hybrid multirobot control architecture for object transport,” IEEE/ASME Trans. Mechatron. 21(16), 2983–2988 (2016).Google Scholar
Ghommam, J., Luque-Vega, L. F., Castillo-Toledo, B. and Saad, M., “Three-dimensional distributed tracking control for multiple quadrotor helicopters,” J. Franklin Inst. 353(10), 2344–2372 (2016).CrossRefGoogle Scholar
Arab, F., F. A. Shirazi and M. R. Haeri yazdi, “Cooperative Transportation of a Point Mass with Unknown Weight by Multiple Quadrotors,” In: 27th Iranian Conference on Electrical Engineering (2019).CrossRefGoogle Scholar
Shirani, B., Najafi, M. and Izadi, I., “Cooperative load transportation using multiple UAVs,” Aerosp. Sci. Technol. 84, 158–169 (2019).CrossRefGoogle Scholar
Wang, C., Song, B., Huang, P. and Tang, C., “Trajectory tracking control for quadrotor robot Subject to payload variation and wind gust disturbance,” J. Intell. Robot. Syst. 83(2), 315–333 (2016).CrossRefGoogle Scholar
Dai, S., Lee, T., Bernstein, D.S., “Adaptive control of a quadrotor UAV transporting a cable-suspended load with unknown mass,” 53rd IEEE Conference on Decision and Control. 2014.Google Scholar
Cruz, P. J. and Fierro, R., “Cable-suspended load lifting by a quadrotor UAV: hybrid model, trajectory generation, and control,” Autonom. Robots 41(8), 1629–1643 (2017).Google Scholar
de Angelis, E. L., “Swing angle estimation for multicopter slung load applications,” Aerosp. Sci. Technol. 89, 264–274 (2019).CrossRefGoogle Scholar
de Angelis, E. L., Giulietti, F. and Pipeleers, G., “Two-time-scale control of a multirotor aircraft for suspended load transportation,” Aerosp. Sci. Technol. 84, 193–203 (2019).CrossRefGoogle Scholar
Pierri, F., Muscio, G. and Caccavale, F., “An adaptive hierarchical control for aerial manipulators,” Robotica 36(10), 1527–1550 (2018).CrossRefGoogle Scholar
Yoshikawa, T. and X. Z Zheng, “Coordinated dynamic hybrid position/force control for multiple robot manipulators handling one constrained object,” Int. J. Robot. Res. 12(2), 219–230 (1993).CrossRefGoogle Scholar
Sieber, D., Deroo, F. and Hirche, S., “Formation-Based Approach for Multi-Robot Cooperative Manipulation Based on Optimal Control Design,” In: Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS) (2013).Google Scholar
Mellinger, D., Shomin, M., Michael, N. and Kumar, V., “Cooperative grasping and transport using multiple quadrotors,” Distrib. Autonom. Robot. Syst., 545–558 (2013).CrossRefGoogle Scholar
Fink, J., Michael, N., Kim, S. and Kumar, V., “Planning and control for cooperative manipulation and transportation with aerial robots,” Int. J. Robot. Res. 30(3), 324–334 (2011).CrossRefGoogle Scholar
Yang, H. and Lee, D., “Hierarchical Cooperative Control Framework of Multiple Quadrotor-Manipulator Systems,” In: IEEE International Conference on Robotics and Automation (ICRA) (2015) pp. 4656–4662.Google Scholar
Goodarzi, F. A. and Lee, T., “Dynamics and Control of Quadrotor UAVs Transporting a Rigid Body Connected via Flexible Cables,” In: American Control Conference (ACC) (2015).CrossRefGoogle Scholar
Tartaglione, G., D’Amato, E., Ariola, M., Rossi, P. S. and Johansen, T. A., “Model predictive control for a multi-body slung-load system,” Robot. Autonom. Syst. 92, 1–11 (2017).CrossRefGoogle Scholar
Dong, W., “On trajectory and force tracking control of constrained mobile manipulators with parameter uncertainty,” Automatica 38, 1475–1484 (2002).CrossRefGoogle Scholar
Xiao, B., Yin, S. and Kaynak, O., “Tracking control of robotic manipulators with uncertain kinematics and dynamics,” IEEE Trans. Ind. Electron 63, 6439–6449 (2016).CrossRefGoogle Scholar
Aghili, F., “Adaptive control of manipulators forming closed kinematic chain with inaccurate kinematic model,” IEEE/ASME Trans. Mechatron. 18(5), 1544–1554 (2013).CrossRefGoogle Scholar
Monfaredi, R., Rezaei, S. M. and Talebi, A., “A new observer-based adaptive controller for cooperative handling of an unknown object,” Robotica 34(7), 1437–1463 (2016).CrossRefGoogle Scholar
Lee, H., Yoo, D., Lee, B., Moon, G., Lee, D., Tahk, M. and Shin, H., “Parameter-robust linear quadratic Gaussian technique for multi-agent slung load transportation,” Aerosp. Sci. Technol. 71, 119–127 (2017).Google Scholar
Franchi, A., Petitti, A. and Rizzo, A., “Decentralized Parameter Estimation and Observation for Cooperative Mobile Manipulation of An Unknown Load Using Noisy Measurements,” In: IEEE International Conference on Robotics and Automation (ICRA) (2015).CrossRefGoogle Scholar
Kawasaki, H., Ueki, S. and Ito, S., “Decentralized adaptive coordinated control of multiple robot arms without using a force sensor,” Automatica 42, 481–488 (2006).CrossRefGoogle Scholar
Lee, H. and Kim, H. J., “Constraint-based cooperative control of multiple aerial manipulators for handling an unknown payload,” IEEE Trans. Ind. Inform. 13, 2780–2790 (2017).Google Scholar
Kendoul, F., Yu, Z. and Nonami, K., “Guidance and nonlinear control system for autonomous flight of minirotorcraft unmanned aerial vehicles,” J. Field Robot. 27, 311–334 (2009).CrossRefGoogle Scholar
Udwadia, F. E. and Kalaba, R. E., “What is the general form of the explicit equations of motion for constrained mechanical systems?,” J. Appl. Mech. 69(3), 335–339 (2002).CrossRefGoogle Scholar
Baumgarte, J., “Stabilization of constraints and integrals of motion in dynamical systems,” Comput. Meth. Appl. Mech. Eng. 1(1), 1–16 (1972).CrossRefGoogle Scholar
Zhao, B., Xian, B., Zhang, Y. and Zhang, X., “Nonlinear robust sliding mode control of a quadrotor unmanned aerial vehicle based on immersion and invariance method,” Int. J. Rob. Nonlinear Cont. 25, 3714–3731 (2015).CrossRefGoogle Scholar