Equilibria, Stability, and Sensitivity for the Aerial Suspended Beam Robotic System Subject to Parameter Uncertainty

This article studies how parametric uncertainties affect the cooperative manipulation of a cable-suspended beam-shaped load by means of two aerial robots not explicitly communicating with each other. In particular, this article sheds light on the impact of the uncertain knowledge of the model parameters available to an established communicationless force-based controller. First, we find the closed-loop equilibrium configurations in the presence of the aforementioned uncertainties, and then, we study their stability. Hence, we show the fundamental role played in the robustness of the load attitude control by the internal force induced in the manipulated object by nonvertical cables. Furthermore, we formally study the sensitivity of the attitude error to such parametric variations, and we provide a method to act on the load position error in the presence of uncertainties. Eventually, we validate the results through an extensive set of numerical tests in a realistic simulation environment, including underactuated aerial vehicles and sagging-prone cables, and through hardware experiments.

Automated summary

This article examines the impact of parametric uncertainties on the cooperative manipulation of a cable-suspended beam-shaped load by two aerial robots without explicit communication. It sheds light on the effects of uncertain model parameter knowledge on a communicationless force-based controller. The article analyzes the equilibrium configurations and stability in the presence of uncertainties, and explores the role of internal forces induced by nonvertical cables in load attitude control. It also studies the sensitivity of attitude error to parameter variations and provides a method to address load position error in the presence of uncertainties. The results are validated through extensive numerical tests and hardware experiments in a realistic simulation environment.