TY - GEN
T1 - Multi-UAV cooperative transportation using dynamic control allocation and a reinforcement learning compensator
AU - Li, Shuai
AU - Zanotto, Damiano
N1 - Publisher Copyright:
© 2021 by ASME
PY - 2021
Y1 - 2021
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85120463082&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85120463082&partnerID=8YFLogxK
U2 - 10.1115/DETC2021-71797
DO - 10.1115/DETC2021-71797
M3 - Conference contribution
AN - SCOPUS:85120463082
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC)
T2 - 17th 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
Y2 - 17 August 2021 through 19 August 2021
ER -