Aerial Load Transportation with Multiple Quadrotors Based on a Kinematic Controller and a Neural SMC Dynamic Compensatio
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Aerial Load Transportation with Multiple Quadrotors Based on a Kinematic Controller and a Neural SMC Dynamic Compensation Francisco Rossomando1 · Claudio Rosales1 · Javier Gimenez1 · Lucio Salinas1 · Carlos Soria1 · Mario Sarcinelli-Filho2 · Ricardo Carelli1 Received: 30 October 2019 / Accepted: 31 March 2020 © Springer Nature B.V. 2020
Abstract A novel formation control to transport a cable-suspended payload with two quadrotors is presented. The control structure is based on a layered scheme combining a kinematic null-space based controller and a neural sliding mode controller. The null-space controller is designed to generate velocity references to the quadrotors in the formation, whereas the neural sliding mode controller receives such reference velocities and performs a dynamic compensation for possible parametric uncertainties as well as for the dynamic perturbations caused by the load attached to the quadrotors. The stability of the closed-loop control system thus implemented is also proven with basis on the theory of Lyapunov. Very detailed dynamic models for the quadrotors, the flexible cables, and the payload are included in a highly realistic scenario. To close the work, numerical simulations are presented, whose results demonstrate a good performance of the proposed controller. Keywords Cooperative aerial transportation · Aerial formation control · Dynamic compensation · Neural adaptive SMC
1 Introduction The use of multi-rotor aerial vehicles (MAVs) is growing enormously, regarding civil, military and scientific applications [1]. For the control theory researchers, the control of MAVs represent a challenge because they are underactuated systems, with nonlinear and highly coupled dynamics [2, 3]. The main advantages of the MAVs, in comparison with other aerial vehicles, is their capability of performing omnidirectional movements, their good performance when flying at low speeds, their capability of hovering, as well as taking off and landing vertically in confined spaces and under adverse conditions [4]. The quadrotor is the most used multi-rotor vehicle, although applications with hexarotor designs have also been reported [5].
Francisco Rossomando
[email protected] MarioSarcinelli-Filho [email protected] 1
INAUT (UNSJ CONICET), Av. Libertador San Mart´ın oeste 1109, San Juan, Argentina
2
Department of Electrical Engineering, Federal University of Esp´ırito Santo, Vit´oria 29075-910, Brazil
Currently, a field of further research and progress when regarding the use of aerial vehicles is load transportation, due to the challenges it presents and the potential applications it has, which include supply medicines in areas of difficult access [6], package delivery [7], disaster relief by delivering aid to isolated areas [8], assistance in diverse search and rescue scenarios [9], construction and architecture [10], firefighting services [11] and precise spraying in agriculture [12], for instance. Consequently, technological advances have allowed developing vehicles with better sensing s
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