Artículos de revistas
Suspended Load Path Tracking Control Strategy using a Tilt-rotor UAV
Fecha
2017-10Registro en:
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
Autor
Alves Dos Santos, Marcio
Rego, B. S.
Raffo, Guilherme V.
Ferramosca, Antonio
Resumen
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.