4.7 Article

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

相关参考文献

注意:仅列出部分参考文献,下载原文获取全部文献信息。
Article Robotics

Past, Present, and Future of Aerial Robotic Manipulators

Anibal Ollero et al.

Summary: This article primarily analyzes the evolution and current trends in aerial robotic manipulation, covering different types of aircraft equipped with various robotic manipulators, including cooperative manipulation and multibody design, and finally presenting the vision of future new generation aerial robotic manipulators.

IEEE TRANSACTIONS ON ROBOTICS (2022)

Article Mathematics, Applied

Geometric Control of Two Quadrotors Carrying a Rigid Rod with Elastic Cables

Jacob Goodman et al.

Summary: This paper presents the design of a geometric trajectory tracking controller for a cooperative task of two quadrotor UAVs carrying and transporting a rigid bar. By utilizing the elasticity of the cables and singular perturbation techniques, the model is reduced to that of a similar model with inelastic cables. A controller is designed in the reduced model to exponentially track the position and attitude of the rod, under certain assumptions on initial error. The paper also demonstrates that the exponential tracking in the reduced model corresponds to exponential tracking of the original elastic model. Furthermore, the previously defined control scheme guarantees uniform ultimate boundedness in the presence of unstructured bounded disturbances.

JOURNAL OF NONLINEAR SCIENCE (2022)

Proceedings Paper Automation & Control Systems

Decentralized Model Predictive Control for Equilibrium-based Collaborative UAV Bar Transportation

Roberto C. Sundin et al.

Summary: This paper analyzes the equilibrium points of a collaborative transportation task with two unmanned aerial vehicles and a payload. Centralized and decentralized linear model predictive controllers are designed based on linearizing the nonlinear dynamics around the previously analyzed equilibrium points. A comparison between the centralized and decentralized formulations is provided, considering the time to solution and performance of each controller. The findings offer new operational equilibrium points for efficient operation with predictive model-based controllers.

2022 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2022) (2022)

Article Robotics

Novel Omnidirectional Aerial Manipulator With Elastic Suspension: Dynamic Control and Experimental Performance Assessment

Arda Yigit et al.

Summary: Aerial manipulators have the potential to replace industrial manipulators for specific tasks, but currently face challenges in accuracy, autonomy, payload capability, and regulatory environment. To address these limitations, a novel aerial manipulator suspended on a robotic carrier has been introduced, and various experiments have been conducted to evaluate its performance in terms of workspace, accuracy, and dynamics.

IEEE ROBOTICS AND AUTOMATION LETTERS (2021)

Article Computer Science, Information Systems

Cooperative Load Transportation With Two Quadrotors Using Adaptive Control

Daniel Khede Dourado Villa et al.

Summary: This work analyzes the transportation of a bar-shaped payload suspended by flexible cables attached to two quadrotors, treating the aerial vehicles and the load as a single system using the virtual structure approach. An adaptive dynamic compensator is used to handle the dynamic effects of the tethered load and the quadrotors. Experimental tests under adverse conditions demonstrate that the proposed control system can successfully accomplish payload positioning, orientation, and trajectory tracking, even in challenging situations with high accelerations.

IEEE ACCESS (2021)

Article Robotics

Cooperative Transportation of Cable Suspended Payloads With MAVs Using Monocular Vision and Inertial Sensing

Guanrui Li et al.

Summary: MAVs have great potential in commercial and healthcare services for cooperative transportation tasks. The distributed vision-based coordinated control enables the inference of the full 6-DoF states of cable-suspended rigid body payloads.

IEEE ROBOTICS AND AUTOMATION LETTERS (2021)

Article Computer Science, Artificial Intelligence

Cooperative Aerial Manipulation with Decentralized Adaptive Force-Consensus Control

Sandesh Thapa et al.

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS (2020)

Article Computer Science, Artificial Intelligence

A study on force-based collaboration in swarms

Chiara Gabellieri et al.

SWARM INTELLIGENCE (2020)

Article Automation & Control Systems

Pose stabilization of a bar tethered to two aerial vehicles

Pedro O. Pereira et al.

AUTOMATICA (2020)

Article Computer Science, Artificial Intelligence

Aerial Load Transportation with Multiple Quadrotors Based on a Kinematic Controller and a Neural SMC Dynamic Compensation

Francisco Rossonnando et al.

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS (2020)

Article Engineering, Mechanical

Energy distribution in Dual-UAV collaborative transportation through load sharing

Abdullah Mohiuddin et al.

Journal of Mechanisms and Robotics-Transactions of the ASME (2020)

Article Automation & Control Systems

A Survey of Single and Multi-UAV Aerial Manipulation

Abdullah Mohiuddin et al.

UNMANNED SYSTEMS (2020)

Article Automation & Control Systems

Multiple UAV Systems: A Survey

Georgy Skorobogatov et al.

UNMANNED SYSTEMS (2020)

Article Robotics

Full-Pose Manipulation Control of a Cable-Suspended Load With Multiple UAVs Under Uncertainties

Dario Sanalitro et al.

IEEE ROBOTICS AND AUTOMATION LETTERS (2020)

Article Robotics

Robust collaborative object transportation using multiple MAVs

Andrea Tagliabue et al.

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH (2019)

Article Robotics

6D interaction control with aerial robots: The flying end-effector paradigm

Markus Ryll et al.

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH (2019)

Proceedings Paper Automation & Control Systems

Cooperative Transport of Large Objects by a Pair of Unmanned Aerial Systems using Sampling-based Motion Planning

Vojtech Spurny et al.

2019 24TH IEEE INTERNATIONAL CONFERENCE ON EMERGING TECHNOLOGIES AND FACTORY AUTOMATION (ETFA) (2019)

Article Automation & Control Systems

Planning and Control for Collision-Free Cooperative Aerial Transportation

Hyeonbeom Lee et al.

IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING (2018)

Article Automation & Control Systems

Geometric Control of Quadrotor UAVs Transporting a Cable-Suspended Rigid Body

Taeyoung Lee

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY (2018)

Article Automation & Control Systems

Aerial manipulation-A literature survey

Hossein Bonyan Khamseh et al.

ROBOTICS AND AUTONOMOUS SYSTEMS (2018)

Article Robotics

Aerial Co-Manipulation With Cables: The Role of Internal Force for Equilibria, Stability, and Passivity

Marco Tognon et al.

IEEE ROBOTICS AND AUTOMATION LETTERS (2018)

Proceedings Paper Automation & Control Systems

Cooperative Aerial Load Transport with Force Control

Sandesh Thapa et al.

IFAC PAPERSONLINE (2018)

Article Robotics

Cooperative Transportation Using Small Quadrotors Using Monocular Vision and Inertial Sensing

Giuseppe Loianno et al.

IEEE ROBOTICS AND AUTOMATION LETTERS (2018)

Article Robotics

An Integrated Framework for Cooperative Aerial Manipulators in Unknown Environments

Hyeonbeom Lee et al.

IEEE ROBOTICS AND AUTOMATION LETTERS (2018)

Article Computer Science, Artificial Intelligence

Cooperative manipulation and transportation with aerial robots

Nathan Michael et al.

AUTONOMOUS ROBOTS (2011)

Article Computer Science, Artificial Intelligence

Multi-UAV Cooperation and Control for Load Transportation and Deployment

I. Maza et al.

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS (2010)