Multi-UAV cooperative transportation using dynamic control allocation and a reinforcement learning compensator

Shuai Li, Damiano Zanotto

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

This paper proposes a new trajectory tracking method for a 6 degree-of-freedom (DOF) cable-suspended payload controlled by a team of quadrotors. Using the modeling convention of reconfigurable cable-driven parallel robots (RCDPRs) the coupled dynamics of the payload and the quadrotors are derived. Based on this dynamic model, a new dynamic control allocation approach is introduced to optimally distribute the virtual control input (i.e., the wrench to be exerted on the payload) among the cables and generate reference positions for the quadrotors on-line, while avoiding collisions between quadrotors and accounting for cable tension constraints. Furthermore, a new reinforcement-learning (RL) compensator is proposed to reduce tracking errors caused by the constraints in the quadrotors' thrusts. Numerical simulations are conducted to validate the proposed approach.

Original languageEnglish
Title of host publication17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC)
ISBN (Electronic)9780791885468
DOIs
StatePublished - 2021
Event17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, MSNDC 2021, Held as Part of the ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2021 - Virtual, Online
Duration: 17 Aug 202119 Aug 2021

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume9

Conference

Conference17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, MSNDC 2021, Held as Part of the ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2021
CityVirtual, Online
Period17/08/2119/08/21

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