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Trajectory Generation and Control in a Special Transport Mission of a Cable-Suspended Point-Mass Load from a Quadrotor

Hassan SAYYAADI [1] , Ali SOLTANI [2]

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In this study, trajectory planning and control of a cable-suspended load from a quadrotor in a special transportation mission are addressed. The mission under consideration in this study includes picking up and transportation of the load toward a defined point at a specified time. Therefore, two trajectory tracking controllers are designed for the quadrotor and the load. Controllers are designed geometrically via Backstepping and configuration error functions defined on S2 and SO(3) in the literature of Lie groups. By this way, common singularities of regular quadrotor attitude controllers are avoided. Moreover, sufficient conditions for success of the proposed control laws are calculated using Lyapunov exponential stability theorem and an argument about singularly perturbed systems. All simulations are performed on an experimentally verified model of OS4 quadrotor and capabilities of the designed control laws are demonstrated.
Trajectory Generation, Geometrical Control Quadrotor, Cable-suspended load Backstepping, Lie Groups, Lyapunov Exponential Stability Theorem
• L. Merino, F. Caballero, J. R. Martínez-de-Dios, I. Maza, and A. Ollero, "An Unmanned Aircraft System for Automatic Forest Fire Monitoring and Measurement", Journal of Intelligent & Robotic Systems, 65(1-4): 533-548, (2012).
Birincil Dil en Mechanical Engineering Yazar: Hassan SAYYAADI (Sorumlu Yazar)Ülke: Turkey Yazar: Ali SOLTANI
 Bibtex @araştırma makalesi { gujs429378, journal = {Gazi University Journal of Science}, issn = {}, eissn = {2147-1762}, address = {Gazi Üniversitesi}, year = {}, volume = {31}, pages = {578 - 598}, doi = {}, title = {Trajectory Generation and Control in a Special Transport Mission of a Cable-Suspended Point-Mass Load from a Quadrotor}, key = {cite}, author = {SAYYAADI, Hassan and SOLTANI, Ali} } APA SAYYAADI, H , SOLTANI, A . (). Trajectory Generation and Control in a Special Transport Mission of a Cable-Suspended Point-Mass Load from a Quadrotor. Gazi University Journal of Science, 31 (2), 578-598. Retrieved from http://dergipark.gov.tr/gujs/issue/37206/429378 MLA SAYYAADI, H , SOLTANI, A . "Trajectory Generation and Control in a Special Transport Mission of a Cable-Suspended Point-Mass Load from a Quadrotor". Gazi University Journal of Science 31 (): 578-598 Chicago SAYYAADI, H , SOLTANI, A . "Trajectory Generation and Control in a Special Transport Mission of a Cable-Suspended Point-Mass Load from a Quadrotor". Gazi University Journal of Science 31 (): 578-598 RIS TY - JOUR T1 - Trajectory Generation and Control in a Special Transport Mission of a Cable-Suspended Point-Mass Load from a Quadrotor AU - Hassan SAYYAADI , Ali SOLTANI Y1 - 2018 PY - 2018 N1 - DO - T2 - Gazi University Journal of Science JF - Journal JO - JOR SP - 578 EP - 598 VL - 31 IS - 2 SN - -2147-1762 M3 - UR - Y2 - 2018 ER - EndNote %0 Gazi University Journal of Science Trajectory Generation and Control in a Special Transport Mission of a Cable-Suspended Point-Mass Load from a Quadrotor %A Hassan SAYYAADI , Ali SOLTANI %T Trajectory Generation and Control in a Special Transport Mission of a Cable-Suspended Point-Mass Load from a Quadrotor %D 2018 %J Gazi University Journal of Science %P -2147-1762 %V 31 %N 2 %R %U ISNAD SAYYAADI, Hassan , SOLTANI, Ali . "Trajectory Generation and Control in a Special Transport Mission of a Cable-Suspended Point-Mass Load from a Quadrotor". Gazi University Journal of Science 31 / 2 578-598.