2021
Chen*, Ti; Shan, Jinjun; Liu, Hugh H. -T.
Distributed control of flexible payload transportation using multiple quadrotors Inproceedings
In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 247-252, IEEE, 2021, ISBN: 9781665441391.
Abstract | Links | BibTeX | Tags: Aerial transportation, Distributed control, Flexible payload, quadrotor
@inproceedings{AIM2021TC,
title = {Distributed control of flexible payload transportation using multiple quadrotors},
author = {Ti Chen* and Jinjun Shan and Hugh H. -T. Liu},
doi = {10.1109/AIM46487.2021.9517345},
isbn = {9781665441391},
year = {2021},
date = {2021-01-01},
urldate = {2021-01-01},
booktitle = {IEEE/ASME International Conference on Advanced Intelligent Mechatronics},
journal = {IEEE/ASME International Conference on Advanced Intelligent Mechatronics},
pages = {247-252},
publisher = {IEEE},
abstract = {This paper focuses on the distributed control of flexible payload transportation using multiple quadrotors. To design a distributed controller, the transportation system is described as a group of quadrotors subject to disturbance forces and torques from the flexible payload. A distributed finite-time observer is introduced for the quadrotors to estimate the virtual leader's information. The disturbances acting on quadrotors due to the transverse and torsional deformation of the flexible payload are estimated based on the deformation analysis. The unmodeled disturbances are approximated using a radial basis function neural network. A distributed hierarchical controller is developed with the compensation for these disturbances.},
keywords = {Aerial transportation, Distributed control, Flexible payload, quadrotor},
pubstate = {published},
tppubtype = {inproceedings}
}
This paper focuses on the distributed control of flexible payload transportation using multiple quadrotors. To design a distributed controller, the transportation system is described as a group of quadrotors subject to disturbance forces and torques from the flexible payload. A distributed finite-time observer is introduced for the quadrotors to estimate the virtual leader's information. The disturbances acting on quadrotors due to the transverse and torsional deformation of the flexible payload are estimated based on the deformation analysis. The unmodeled disturbances are approximated using a radial basis function neural network. A distributed hierarchical controller is developed with the compensation for these disturbances.
2020
Qian*, Longhao; Liu, Hugh H. -T.
Path-Following Control of A Quadrotor UAV with A Cable-Suspended Payload under Wind Disturbances Journal Article
In: IEEE Transactions on Industrial Electronics, 67 , pp. 2021-2029, 2020, ISSN: 15579948.
Abstract | Links | BibTeX | Tags: Cable-suspended payload, quadrotor, reduction theorem, uncertainty and disturbance estimator (UDE)
@article{TIE2020LHQ,
title = {Path-Following Control of A Quadrotor UAV with A Cable-Suspended Payload under Wind Disturbances},
author = {Longhao Qian* and Hugh H. -T. Liu},
doi = {10.1109/TIE.2019.2905811},
issn = {15579948},
year = {2020},
date = {2020-01-01},
journal = {IEEE Transactions on Industrial Electronics},
volume = {67},
pages = {2021-2029},
publisher = {IEEE},
abstract = {A path-following controller based on an uncertainty and disturbance estimator (UDE) for a quadrotor with a cable-suspended payload is proposed in this paper. The quadrotor and the payload are subject to unknown wind disturbances. The controller resembles a cascade architecture. For the outer loop, a UDE-based translational control law is proposed. The controller asymptotically stabilizes the quadrotor along a given path and estimates the lumped disturbances with a low-pass filter. For the inner loop, an attitude tracking controller is used to control the direction of the lift vector so that the actual lift force can asymptotically follow the reference force generated by the translational controller. The stability of the system with the translational controller and the attitude tracking controller has been shown to be asymptotically stable using the reduction theorem. With the help of the reduction theorem, the design of the translational and the attitude control can be decoupled, providing the flexibility of implementing different attitude controllers without redoing the stability analysis. As shown in the simulation, the control law can stabilize the quadrotor on the desired path under different wind disturbances.},
keywords = {Cable-suspended payload, quadrotor, reduction theorem, uncertainty and disturbance estimator (UDE)},
pubstate = {published},
tppubtype = {article}
}
A path-following controller based on an uncertainty and disturbance estimator (UDE) for a quadrotor with a cable-suspended payload is proposed in this paper. The quadrotor and the payload are subject to unknown wind disturbances. The controller resembles a cascade architecture. For the outer loop, a UDE-based translational control law is proposed. The controller asymptotically stabilizes the quadrotor along a given path and estimates the lumped disturbances with a low-pass filter. For the inner loop, an attitude tracking controller is used to control the direction of the lift vector so that the actual lift force can asymptotically follow the reference force generated by the translational controller. The stability of the system with the translational controller and the attitude tracking controller has been shown to be asymptotically stable using the reduction theorem. With the help of the reduction theorem, the design of the translational and the attitude control can be decoupled, providing the flexibility of implementing different attitude controllers without redoing the stability analysis. As shown in the simulation, the control law can stabilize the quadrotor on the desired path under different wind disturbances.
2018
Lyu, Pin; Lai, Jizhou; Liu, Hugh H T; Liu, Jianye; Zhang, Qingrui
A Thrust Model Aided Fault Diagnosis Method for the Altitude Estimation of a Quadrotor Journal Article
In: IEEE Transactions on Aerospace and Electronic Systems, 54 (2), pp. 1008–1019, 2018, ISSN: 00189251.
Abstract | Links | BibTeX | Tags: altitude estimation, analytical redundancy, chi-test, fault diagnosis, quadrotor, thrust model
@article{TAES2018Lv,
title = {A Thrust Model Aided Fault Diagnosis Method for the Altitude Estimation of a Quadrotor},
author = {Pin Lyu and Jizhou Lai and Hugh H T Liu and Jianye Liu and Qingrui Zhang},
doi = {10.1109/TAES.2017.2773262},
issn = {00189251},
year = {2018},
date = {2018-01-01},
journal = {IEEE Transactions on Aerospace and Electronic Systems},
volume = {54},
number = {2},
pages = {1008--1019},
abstract = {IEEE In this paper, a new fault diagnosis method is presented for the sensors in the vertical direction of a quadrotor. Different from the existing methods which treat the inertial sensors and the measurement sensors separately, the presented method is capable of dealing with both the z-axis accelerometer and the barometer. The knowledge of the thrust model is used to generate an analytical redundancy based fault diagnosis approach for altitude estimation. The filter design, fault detection, isolation and recovery problems are addressed. An improved chi-test method is used for fault detection. Real flight data is used to validate the proposed approaches, showing that 1) the faults of the z-axis accelerometer and the barometer can both be detected; 2) the thrust model of a quadrotor can be used to replace the faulty z-axis accelerometer.},
keywords = {altitude estimation, analytical redundancy, chi-test, fault diagnosis, quadrotor, thrust model},
pubstate = {published},
tppubtype = {article}
}
IEEE In this paper, a new fault diagnosis method is presented for the sensors in the vertical direction of a quadrotor. Different from the existing methods which treat the inertial sensors and the measurement sensors separately, the presented method is capable of dealing with both the z-axis accelerometer and the barometer. The knowledge of the thrust model is used to generate an analytical redundancy based fault diagnosis approach for altitude estimation. The filter design, fault detection, isolation and recovery problems are addressed. An improved chi-test method is used for fault detection. Real flight data is used to validate the proposed approaches, showing that 1) the faults of the z-axis accelerometer and the barometer can both be detected; 2) the thrust model of a quadrotor can be used to replace the faulty z-axis accelerometer.