publications – FLIGHT SYSTEMS and CONTROL

our research publications are listed here. most research papers can be accessed by the Digital Object Identifier (doi) links, or from publication resources, e.g. IEEE Xplore, AIAA NRC, and arXiv. some papers have preprint or submission versions in PDF file format that can be downloaded/viewed for general readership, please consult official publications for citation. please use the BibTeX entries for citations.

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2023

325.

Go*, Shing Hei Helson; Qian*, Longhao; Liu, Hugh HT

Data-Driven and Robust Path-following Control of a Quadrotor Slung Load Transport System Inproceedings

In: 2023.

Abstract | Links | BibTeX

@inproceedings{SciTech2023HG,

title = {Data-Driven and Robust Path-following Control of a Quadrotor Slung Load Transport System},

author = {Shing Hei Helson Go* and Longhao Qian* and Hugh HT Liu},

url = {https://www.flight.utias.utoronto.ca/fsc/wp-content/uploads/2022/12/scitech2023hg_presentation.mov},

year  = {2023},

date = {2023-01-01},

urldate = {2023-01-01},

journal = {AIAA SciTech},

abstract = {In this paper, a robust path following control law for a quadrotor Slung Load Transport System is developed. A Gaussian Process-augmented Extended Kalman Filter is proposed to estimate payload states. In this approach, Gaussian Processes are used to compensate for unmodelled dynamics in the process model, and they are trained on previously collected data of a Slung Load Transport System in flight. Both simulations and experiments verify the estimation and control system framework and demonstrate successful stabilization and trajectory tracking of the Slung Load Transport System, overcoming model inaccuracy and disturbances. I. Nomenclature F − → = NED inertial frame F − → = Quadrotor body-fixed frame, fixed at the mass center of the quadrotor vehicle = Quadrotor mass J = Quadrotor moment of inertia = Payload mass = Cable length g = Gravity vector in the world frame ∈ R 3 = Vector spanning the length of the cable x ∈ R 3 = Absolute position of the payload mass center v ∈ R 3 = Absolute velocity of the payload mass center, expressed in F − → r ∈ R 2 = Relative position of the quadrotor mass center w.r.t. the payload, projected onto the XY plane of F − → v ∈ R 2 = Relative velocity of the quadrotor mass center w.r.t. the payload, projected onto the XY plane of F − → ˜ v ∈ R 2 = Difference between v predicted by some dynamics model and the true value B ∈ R 3×2 = Projection from v to the time derivative of R ∈ SO(3) = Rotation of F − → relative to F − → ∈ R 3 = Angular velocity of the F − → relative to F − → , expressed in F − → f ∈ R 3 = Total thrust delivered by the actuators ∈ R 3 = Total torque delivered by the actuators d ∈ R 3 = Disturbance acting on the payload d ∈ R 3 = Disturbance acting on the quadrotor body d ∈ R 3 = Sum of disturbances acting on the SLTS e ∈ R 3 = Positional (radial) error of the payload from some given path e ∈ R 3 = Velocity (tangential) error of the payload from some given path × : R 3 → R 3×3 = Maps a 3-vector to a 3-by-3 skew-symmetric (cross product) matrix ∨ : R 3×3 → R 3 = The inverse operation of the × mapping * Ph.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

In this paper, a robust path following control law for a quadrotor Slung Load Transport System is developed. A Gaussian Process-augmented Extended Kalman Filter is proposed to estimate payload states. In this approach, Gaussian Processes are used to compensate for unmodelled dynamics in the process model, and they are trained on previously collected data of a Slung Load Transport System in flight. Both simulations and experiments verify the estimation and control system framework and demonstrate successful stabilization and trajectory tracking of the Slung Load Transport System, overcoming model inaccuracy and disturbances. I. Nomenclature F − → = NED inertial frame F − → = Quadrotor body-fixed frame, fixed at the mass center of the quadrotor vehicle = Quadrotor mass J = Quadrotor moment of inertia = Payload mass = Cable length g = Gravity vector in the world frame ∈ R 3 = Vector spanning the length of the cable x ∈ R 3 = Absolute position of the payload mass center v ∈ R 3 = Absolute velocity of the payload mass center, expressed in F − → r ∈ R 2 = Relative position of the quadrotor mass center w.r.t. the payload, projected onto the XY plane of F − → v ∈ R 2 = Relative velocity of the quadrotor mass center w.r.t. the payload, projected onto the XY plane of F − → ˜ v ∈ R 2 = Difference between v predicted by some dynamics model and the true value B ∈ R 3×2 = Projection from v to the time derivative of R ∈ SO(3) = Rotation of F − → relative to F − → ∈ R 3 = Angular velocity of the F − → relative to F − → , expressed in F − → f ∈ R 3 = Total thrust delivered by the actuators ∈ R 3 = Total torque delivered by the actuators d ∈ R 3 = Disturbance acting on the payload d ∈ R 3 = Disturbance acting on the quadrotor body d ∈ R 3 = Sum of disturbances acting on the SLTS e ∈ R 3 = Positional (radial) error of the payload from some given path e ∈ R 3 = Velocity (tangential) error of the payload from some given path × : R 3 → R 3×3 = Maps a 3-vector to a 3-by-3 skew-symmetric (cross product) matrix ∨ : R 3×3 → R 3 = The inverse operation of the × mapping * Ph.