Abstract
In this article, a control strategy approach is proposed for a system consisting of a quadrotor transporting a double pendulum. In our case, we attempt to achieve a swing free transportation of the pendulum, while the quadrotor closely follows a specific trajectory. This dynamic system is highly nonlinear, therefore, the fulfillment of this complex task represents a demanding challenge. Moreover, achieving dampening of the double pendulum oscillations while following a precise trajectory are conflicting goals. We apply a proportional derivative (PD) and a model predictive control (MPC) controllers for this task. Transportation of a multiple pendulum with an aerial robot is a step forward in the state of art towards the study of the transportation of loads with complex dynamics. We provide the modeling of the quadrotor and the double pendulum. For MPC we define the cost function that has to be minimized to achieve optimal control. We report encouraging positive results on a simulated environmentcomparing the performance of our MPC-PD control circuit against a PD-PD configuration, achieving a three fold reduction of the double pendulum maximum swinging angle.
Highlights
The research community has studied different approaches for the aerial transportation of payloads task and since the 70s
The contributions of this paper are as follows: We present a control configuration with a proportional derivative (PD) controller embedded in a model predictive control (MPC) controller to transport a double pendulum swinging free and smoothly
The visual comparison between planned path and the path followed by the simulated quadrotor and double pendulum are shown in Figures 5 and 6 for the MPC-PD and the benchmarking PD-PD control systems, respectively
Summary
The research community has studied different approaches for the aerial transportation of payloads task and since the 70s. In these approaches the payload is often considered to be a particle mass at the end of the cable We call this suspended load, which is known as slung load. Research on payload stabilization suspended by a cable started decades ago, when dealing with the control of cranes whose payload was modeled by a lumped-mass [8]. This model is simple, but it captures the complex dynamics of payload motion. Very recent works deal with the control of the transportation by an quadrotor of a payload modeled as a double pendulum [38,39,40].
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