Advanced Anti-Swing Control of a Multirotor UAV Equipped With a Manipulator: A System Dynamics and Online...

Area of Science:

• Robotics
• Control Systems
• Aerospace Engineering

Background:

• Underactuated multirotor UAVs with manipulators (UWM) face payload instability due to large manipulator swings, similar to a double pendulum.
• Conventional linear controllers struggle with the nonlinear dynamics, motion coupling, and variable load conditions inherent in UWM systems.

Purpose of the Study:

• To develop a novel anti-swing control method for UWM systems that addresses the limitations of linearization and adapts to varying load conditions.
• To improve the stability and reliability of UWM during payload transportation.

Main Methods:

• Proposed an anti-swing control method based on system dynamics characteristics and online parameter compensation (ASDOC).
• Leveraged the system's nonlinear dynamics and employed online parameter estimation to stabilize swinging.
• Utilized Lyapunov-based analysis to confirm control objectives.

Main Results:

• The ASDOC method effectively stabilizes swinging motion in UWM systems.
• Online parameter estimation allows the controller to adapt robustly to varying load characteristics.
• Simulations demonstrated enhanced anti-swing performance compared to conventional methods.

Conclusions:

• The proposed ASDOC method provides a robust and adaptive solution for controlling UWM systems with payloads.
• This approach overcomes the limitations of linear control strategies for complex, nonlinear systems.
• ASDOC ensures enhanced stability and reliability for multirotor UAVs during load transportation tasks.