Cooperative Control of Multiple Quadrotors for Transporting a Common Payload

Document Type : Research Article

Authors

Department of Electrical Engineering, Imam Khomeini International University, Qazvin, Iran

Abstract

This paper investigates the problem of controlling a team of quadrotors that cooperatively transport a common payload. The main contribution of this study is to propose a cooperative control algorithm based on a decentralized algorithm. This strategy is comprised of two main steps: the first one is calculating the basic control vectors for each quadrotor using Moore–Penrose theory aiming at cooperative transport of an object and the second one is combining these vectors with individual control vectors, which are obtained from a closed-loop non-linear robust controller. In this regard, a nonlinear robust controller is designed based on Second Order Sliding Mode (SOSMC) approach using Extended Kalman-Bucy Filter (EKBF) to estimate the unmeasured states which is capable of facing external disturbances. The distinctive features of this approach include robustness against model uncertainties along with high flexibility in designing the control parameters to have an optimal solution for the nonlinear dynamics of the system. Design of the controller is based on Lyapunov method which can provide the stability of the end-effecter during the tracking of the desired trajectory. Finally, simulation results are given to illustrate the effectiveness of the proposed method for the cooperative quadrotors to transport a common payload in various maneuvers.

Keywords

Main Subjects

References

[1] M.H. Korayem, A. Zehfroosh, H. Tourajizadeh, S. Manteghi, Optimal Motion Planning of Non-linear Dynamic Systems in the Presence of Obstacles and Moving Boundaries Using SDRE: Application on CableSuspended Robot, Nonlinear Dyn, 76(2) (2014)1423-1441.
[2] K. Das, R. Fierro, V. Kumar, J.P. Ostrowski, J.Spletzer, C.Taylor, A vision-based formation control framework, IEEE Transactions on Robotics and Automation, 18(5) (2002) 813-825.
[3] J. Sanchez, R. Fierro, Sliding mode control for robot formations, In: Proceedings of the 2003 IEEE International Symposium on Intelligent Control, Houston, USA, 2003.
[4] O.A.A. Orqueda, R. Fierro, Robust vision-based nonlinear formation control, In: Proceedings of the 2006 American Control Conference, Minneapolis, USA, 2006.
[5] T.J. Tarn, A.K. Bejczy, X. Yun, Coordinated Control of Two Robot Arms, In: Proceedingog 1986 IEEE International Conference Robotics and Automation , San Francisco, USA, 1986.
[6] S.C. LIU, D.L. Tan, G.J. Lui, Robust Leader-follower Formation Control of Mobile Robots Based on a Second Order Kinematics Model, Acta Automatica Sinica, 33(9)(2007) 947–955.
[7] R. Babaei, A.F. Ehyaei, A Novel UAV Cooperative Approach for Industrial Inspec on and Monitoring, In: Proceeding of 31st International Power System Conference (PSC), Tehran, Iran,2016.
[8] P. Cheng, J. Fink, S. Kim, V. Kumar, Cooperative towing with multiple robots, Algorithmic Foundation of
Robotics VIII. Springer Tracts in Advanced Robotics, 57 ( 2008) 101-116.
[9] N. Michael, J. Fink, V. Kumar, Cooperative manipulation and transportation with aerial robots, Autonomous Robots , 30(1) (2011) 73-86.
[10] J. Fink, N. Michael, S. Kim, V. Kumar, Planning and control for cooperative manipulation and transportation with aerial robots, Int. J. Rob. Res, 30(1) (2010) 324–334.
[11] M. Bernard, K. Kondak, I. Maza, A. Ollero, Autonomous transportation and deployment with aerial robots for search and rescue missions, Journal of Field Robotics, 28(6) (2011) 914–931.
[12] G. Wang, X. Nian, H. Wang, Cooperative control of discrete-time linear multi-agent systems with fixed information structure, J Control Theory , 10(3) (2012) 403–409.
[13] A.R. Patel, M.A. Patel, D.R. Vyas, Modeling and analysis of quadrotor using sliding mode control, In: Proceeding of the 44th IEEE Southeastern Symp. on System Theory, Jacksonville , 2012.
[14] L. Besnard, Y.B. Shtessel, B. Landrum, Quadrotor vehicle control via sliding mode controller driven by sliding mode disturbance observe , Journal of the Franklin Institute, 349 (2)(2012) 658-684.
[15] B. Sumantri, N. Uchiyama, S. Sano, Y. Kawabata, Robust tracking control of a quad-rotor helicopter utilizing sliding mode control with a nonlinear sliding surface, J. System Design and Dynamics, 7(2)(2013) 226-241.
[16] B. Sumantri, N. Uchiyama, S. Sano, Least square based sliding mode control for a quad-rotor helicopter, In: Proceeding of IEEE/SICE Int. Symp. on System Integration, Kobe ,2013.
[17] J.J. Xiong , E.H. Zheng, Position and attitude tracking control for a quadrotor UAV, ISA Transaction, 53(3) (2014) 725-731.
[18] R. Babaei, A. FEhyaei, Robust Control Design of a quadrotor UA Based on Incremental Hierarchical Sliding Mode Approach, In: 25th Iranian Conference on Electrical Engineering (lCEE), Tehran, Iran, 2017.
[19] L. Derafa, A. Benallegue, L. Fridman, Super twisting control algorithm for the attitude tracking of a four rotors UAV, Journal of the Franklin Institute , 349 (2) (2012) 685-699.
[20] L.L.Vegan, B.C.Toledo, and A.G.Loukianov, Robust block second order sliding mode control for a quadrotor, Journal of the Franklin Institute , 349 (2) (2012) 719-739
[21] M. Bouchoucha, S. Seghour, M. Tadjine, Classical and second order sliding mode control solution to an attitude stabilization of a four rotors helicopter: from theory to experiment , In: Proceedings of the 2011 IEEE international conference on mechatronics , Istanbul, Turkey , 2011
[22] I. Eker, Second-order sliding mode control with experimental application, ISA Transaction, 49(3) (2010) 394–405.
[23] S. Mondal, C. Mahanta, A fast converging robust controller using adaptive second order sliding mode, ISA Transaction, 51 (6) (2012) 713–721.
[24] Z.Q. Guo, J.X. Xu, T.H. Lee, Design and implementation of a new sliding mode controller on an underactuated wheeled inverted pendulum, Journal of the Franklin Institute , 351(4) (2014) 2261–2282.
[25] L. Besnard, Y.B. Shtessel, B. Landrum , Quadrotor vehicle control via sliding mode controller driven by sliding mode disturbance observer, Journal of the Franklin Institute, 349 (2) (2012) 658–84.
[26] C. Coza, C. Nicol, C.J.B. Macnab ,A. Ramirez-Serrano , Adaptive fuzzy control for a quadrotor helicopter robust to wind buffeting, Journal of Intelligent and Fuzzy Systems , 22(5)(2011) 267–83.
[27] R. Babaie , A.F. Ehyaei, Robust optimal motion planning approach to cooperative grasping and transporting using multiple UAVs based on SDRE , Transaction of the Institute of Measurement and Control , 39(9)(2017)1391-1408.
[28] D. Mellinger, M. Shomin, N. Michael, V. Kumar , Cooperative Grasping and Transport Using Multiple quadrotors, Distributed Autonomous Robotic Systems. Springer Tracts in Advanced Robotics, 83( 2013) 545-558.
[29] M. Rhudy, Y. Gu, M.R. Napolitano, An Analytical Approach for Comparing Linearization Methods in EKF and UKF, International Journal of Advanced Robotic Systems, 10 (208) (2013).
[30] M. Rhudy, Y. Gu , Understanding Nonlinear Kalman Filters Part I: Selection of EKF or UKF, Interactive Robotics Letters, Link: http://www2.statler.wvu.edu/~irl/page13.html, 2013.
[31] R. Babaie, A.F. Ehyaei, Robust Backstepping Control of a quadrotor UAV Using Extended Kalman Bucy Filter, International Journal of Mechatronics, Electrical and Computer Technology, 5(16) (2015) 2276- 2291.
[32] K. Runcharoo, V. Srichatrapimuk, Sliding Mode Control of quadrotor, In: Proceeding of International Conference of Technological Advances in Electrical, Electronics and Computer Engineering (TAEECE), Konya, 2013.
[33] L.Wang, C. He, P. Zhu, Adaptive Sliding Mode Control for quadrotor Aerial Robot with Ι Type Configuration, International Journal of Automation and Control Engineering , 3(1) (2014) 20-26.
AUT Journal of Modeling and Simulation
Volume 50, Issue 2
December 2018
Pages 147-156

Files

Share

How to cite

Statistics