DocumentCode
184667
Title
Nested saturation control of an UAV carrying a suspended load
Author
Nicotra, Marco M. ; Garone, E. ; Naldi, R. ; Marconi, L.
Author_Institution
Univ. Libre de Bruxelles (ULB), Brussels, Belgium
fYear
2014
fDate
4-6 June 2014
Firstpage
3585
Lastpage
3590
Abstract
This paper addresses the problem of using unmanned aerial vehicles for the transportation of suspended loads. The proposed solution introduces a novel control law capable of steering the aerial robot to a desired reference while simultaneously limiting the sway of the payload. The stability of the equilibrium is proven rigorously through the application of the nested saturation formalism. Numerical simulations demonstrating the effectiveness of the controller are provided.
Keywords
autonomous aerial vehicles; mobile robots; robot dynamics; stability; vehicle dynamics; UAV nested saturation control; aerial robot steering; control law; equilibrium stability; nested saturation formalism; numerical simulations; suspended load transportation; unmanned aerial vehicles; Equations; Mathematical model; Payloads; Stability analysis; Vehicle dynamics; Vehicles; Zirconium; Autonomous systems; Flight control; Stability of nonlinear systems;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference (ACC), 2014
Conference_Location
Portland, OR
ISSN
0743-1619
Print_ISBN
978-1-4799-3272-6
Type
conf
DOI
10.1109/ACC.2014.6859222
Filename
6859222
Link To Document