Journal ArticleDOI
Dynamics analysis and time-optimal motion planning for unmanned quadrotor transportation systems
Reads0
Chats0
TLDR
A time-optimal motion planning (TOMP) scheme is proposed with effective payload antiswing performance and is the first minimum-time trajectory planning method designed for unmanned quadrotor transportation systems.About:
This article is published in Mechatronics.The article was published on 2018-04-01. It has received 54 citations till now. The article focuses on the topics: Nonlinear programming & Sequential quadratic programming.read more
Citations
More filters
Optimized Measurements of Unmanned-Air-Vehicle Mass Moment of Inertia with a Bifilar Pendulum
Matt R. Jardin,Eric R. Mueller +1 more
TL;DR: In this article, the mass moment of inertia of a two-wire bifilar pendulum is computed using dynamic modeling, measurements of the oscillation period, and the physical dimensions of the pendulum such as the length and separation displacement of the wires.
Journal ArticleDOI
An Online Trajectory Planning Approach for a Quadrotor UAV With a Slung Payload
Bin Xian,Shizhang Wang,Sen Yang +2 more
TL;DR: A novel online antiswing trajectory planning approach is proposed for a quadrotor slung-load system, which is an underacuated, strong coupling, and nonlinear system so that it is difficult to achieve thequadrotor's precise positioning and the payload's swing suppression simultaneously.
Journal ArticleDOI
Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review
TL;DR: This paper presents a review of the various control strategies that have been conducted to address and resolve several challenges for a particular category of unmanned aerial vehicles (UAVs), the emphasis of which is on the rotorcraft or rotary-wing systems.
Journal ArticleDOI
A novel cable-suspended quadrotor transportation system: From theory to experiment
Ti Chen,Jinjun Shan +1 more
TL;DR: A hierarchical adaptive controller is designed on the Lie group S O ( 3 ) for the transportation of the payload by the quadrotor and experimental results are presented to show the effectiveness of the proposed transportation system and the controller.
Journal ArticleDOI
Modeling and sliding mode-based attitude tracking control of a quadrotor UAV with time-varying mass.
Xiwei Wu,Bing Xiao,Yaohong Qu +2 more
TL;DR: The mathematical modeling problem of a quadrotor UAV with time-varying mass is first investigated, and the nonlinear dynamics describing the six-degrees-of-freedom full motion is established.
References
More filters
Journal ArticleDOI
Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor
TL;DR: In this article, a tutorial for modeling, estimation, and control for multi-rotor aerial vehicles that includes the common four-rotors or quadrotors case is presented.
Journal ArticleDOI
Attitude stabilization of a VTOL quadrotor aircraft
Abdelhamid Tayebi,S. McGilvray +1 more
TL;DR: A new quaternion-based feedback control scheme for exponential attitude stabilization of a four-rotor vertical takeoff and landing aerial robot known as a quadrotor aircraft is proposed and the model-independent PD controller, without compensation of the Coriolis and gyroscopic torques, provides asymptotic stability for the problem.
Proceedings ArticleDOI
Geometric tracking control of a quadrotor UAV on SE(3)
TL;DR: New results for the tracking control of a quadrotor unmanned aerial vehicle (UAV) are provided and a nonlinear tracking controller is developed on the special Euclidean group SE(3), shown to have desirable closed loop properties that are almost global.
Posted Content
Geometric Tracking Control of a Quadrotor UAV on SE(3)
TL;DR: In this article, a nonlinear tracking controller is developed on the special Euclidean group for each flight mode, and the closed loop is shown to have desirable closed loop properties that are almost global in each case.
Journal ArticleDOI
Brief paper: A unified framework for the numerical solution of optimal control problems using pseudospectral methods
Divya Garg,Michael A. Patterson,William W. Hager,Anil V. Rao,David Benson,Geoffrey T. Huntington +5 more
TL;DR: transformations are developed that relate the Lagrange multipliers of the discrete nonlinear programming problem to the costates of the continuous optimal control problem and the LGL costate approximation is found to have an error that oscillates about the true solution.