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Journal articles on the topic 'Cable suspended payload'

Author: Grafiati

Published: 4 June 2021

Last updated: 8 February 2022

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1

Kusznir, Tom, and Jarosław Smoczek. "Quadrotor UAV Control for Transportation of Cable Suspended Payload." Journal of KONES 26, no. 2 (June 1, 2019): 77–84. http://dx.doi.org/10.2478/kones-2019-0035.

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Abstract Payload transportation with UAV’s (Unmanned Aerial Vehicles) has become a topic of interest in research with possibilities for a wide range of applications such as transporting emergency equipment to otherwise inaccessible areas. In general, the problem of transporting cable suspended loads lies in the under actuation, which causes oscillations during horizontal transport of the payload. Excessive oscillations increase both the time required to accurately position the payload and may be detrimental to the objects in the workspace or the payload itself. In this article, we present a method to control a quadrotor with a cable suspended payload. While the quadrotor itself is a nonlinear system, the problem of payload transportation with a quadrotor adds additional complexities due to both input coupling and additional under actuation of the system. For simplicity, we fix the quadrotor to a planar motion, giving it a total of 4 degrees of freedom. The quadrotor with the cable suspended payload is modelled using the Euler-Lagrange equations of motion and then partitioned into translation and attitude dynamics. The design methodology is based on simplifying the system by using a variable transformation to decouple the inputs, after which sliding mode control is used for the translational and pendulum dynamics while a feedback linearizing controller is used for the rotational dynamics of the quadrotor. The sliding mode parameters are chosen so stability is guaranteed within a certain region of attraction. Lastly, the results of the numerical simulations created in MATLAB/Simulink are presented to verify the effectiveness of the proposed control strategy.

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2

Lin, Jonqlan, Chi Ying Wu, and Julian Chang. "Design and implementation of a multi-degrees-of-freedom cable-driven parallel robot with gripper." International Journal of Advanced Robotic Systems 15, no. 5 (September 1, 2018): 172988141880384. http://dx.doi.org/10.1177/1729881418803845.

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Cable-driven parallel robots comprise driven actuators that allow controlled cables to act in parallel on an end-effector. Such a robotic system has a potentially large reachable workspace, large load capacity, high payload-to-weight ratio, high reconfigurability, and low inertia, relative to rigid link serial and parallel robots. In this work, a multi-degrees-of-freedom cable-suspended robot that can carry out pick-and-place tasks in large workspaces with heavy loads is designed. The proposed cable-driven parallel robot is composed of a rigid frame and an end-effector that is suspended from eight cables—four upper cables and four lower cables. The lengths of the cables are computed from the given positions of the suspended end-effector using a kinematic model. However, most multi-cable-driven robots suffer from interference among the cables, requiring a complex control methodology to find a target goal. Owing to this issue with cable-driven parallel robots, the whole control structure decomposes positioning control missions and allocates them into upper level and lower level. The upper level control is responsible for tracking the suspended end-effector to the target region. The lower level control makes fine positional modifications. Experimental results reveal that the hybrid control mode notably improves positioning performance. The wide variety of issues that are considered in this work apply to aerostats, towing cranes, locomotion interfaces, and large-scale manufacturing that require cable-driven parallel robots.

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3

Oh, So-Ryeok, Ji-Chul Ryu, and Sunil K. Agrawal. "Dynamics and Control of a Helicopter Carrying a Payload Using a Cable-Suspended Robot." Journal of Mechanical Design 128, no. 5 (December 2, 2005): 1113–21. http://dx.doi.org/10.1115/1.2218882.

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In this paper we present a study of the dynamics and control of a helicopter carrying a payload through a cable-suspended robot. The helicopter can perform gross motion, while the cable suspended robot underneath the helicopter can modulate a platform in position and orientation. Due to the underactuated nature of the helicopter, the operation of this dual system consisting of the helicopter and the cable robot is challenging. We propose here a two time scale control method, which makes it possible to control the helicopter and the cable robot independently. In addition, this method provides an effective estimation on the bound of the motion of the helicopter. Therefore, even in the case where the helicopter motion is unknown, the cable robot can be stabilized by implementing a robust controller. Simulation results of the dual system show that the proposed control approach is effective for such a helicopter-robot system.

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4

Guerrero-Sánchez, M. Eusebia, D. Alberto Mercado-Ravell, Rogelio Lozano, and C. Daniel García-Beltrán. "Swing-attenuation for a quadrotor transporting a cable-suspended payload." ISA Transactions 68 (May 2017): 433–49. http://dx.doi.org/10.1016/j.isatra.2017.01.027.

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5

Kusznir, Tom, and Jaroslaw Smoczek. "Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload Vibration." Journal of Control Science and Engineering 2020 (January 11, 2020): 1–12. http://dx.doi.org/10.1155/2020/5058039.

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This paper addresses the problem of damping vibrations of a cable-suspended payload during positioning of the quadrotor. A nonlinear model is derived for the coupled quadrotor-pendulum system in the X-Z plane using Euler–Lagrange formulation. Sliding mode control (SMC) is used for horizontal positioning and payload vibration damping, while a feedback linearizing controller is used for both altitude and attitude control. The SMC surface parameters are determined by placing the eigenvalues of the linearized system at a desired position. The simulation results show the effectiveness of the proposed control method in minimizing payload vibration by comparing it with a partial feedback linearizing controller and a ZVDD input shaper.

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6

Lv, Zong-Yang, Yuhu Wu, and Wang Rui. "Nonlinear Motion Control for a Quadrotor Transporting a Cable-Suspended Payload." IEEE Transactions on Vehicular Technology 69, no. 8 (August 2020): 8192–206. http://dx.doi.org/10.1109/tvt.2020.2997733.

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7

Barikbin, Baharnaz, and Ahmad Fakharian. "Trajectory tracking for quadrotor UAV transporting cable-suspended payload in wind presence." Transactions of the Institute of Measurement and Control 41, no. 5 (June 21, 2018): 1243–55. http://dx.doi.org/10.1177/0142331218774606.

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In this paper, trajectory tracking for a quadrotor unmanned aerial vehicle (UAV) is considered in the presence of a cable-suspended payload and wind as unknown disturbances. It is assumed that the wind disturbance is slowly time varying and affects quadrotor position and orientation independently. Nonlinear robust strategies, such as backstepping and sliding mode control could be used for trajectory tracking; however, they fail to stabilize the system in the presence of payload or wind, or both together. We have proposed a combined backstepping and super-twisting integral sliding mode strategy to stabilize the system. Conventional sliding mode control suggests discontinuous control signals and suffers from the chattering phenomenon whereas its super-twisting integral version suggests continuous control signals, which makes it implementable and chattering free.

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8

Mohammadi, Keyvan, Shahin Sirouspour, and Ali Grivani. "Control of Multiple Quad-Copters With a Cable-Suspended Payload Subject to Disturbances." IEEE/ASME Transactions on Mechatronics 25, no. 4 (August 2020): 1709–18. http://dx.doi.org/10.1109/tmech.2020.2995138.

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9

Kuře, Matěj, Jaroslav Bušek, Tomáš Vyhlídal, and Silviu-Iulian Niculescu. "Algorithms for cable-suspended payload sway damping by vertical motion of the pivot base." Mechanical Systems and Signal Processing 149 (February 2021): 107131. http://dx.doi.org/10.1016/j.ymssp.2020.107131.

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10

Vyhlidal, Tomas, Milan Anderle, Jaroslav Busek, and Silviu-Iulian Niculescu. "Time-Delay Algorithms for Damping Oscillations of Suspended Payload by Adjusting the Cable Length." IEEE/ASME Transactions on Mechatronics 22, no. 5 (October 2017): 2319–29. http://dx.doi.org/10.1109/tmech.2017.2736942.

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11

Guo, Dejun, and Kam K. Leang. "Image-Based Estimation, Planning, and Control of a Cable-Suspended Payload for Package Delivery." IEEE Robotics and Automation Letters 5, no. 2 (April 2020): 2698–705. http://dx.doi.org/10.1109/lra.2020.2972855.

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12

Luo, Cai, Zhenpeng Du, and Leijian Yu. "Neural Network Control Design for an Unmanned Aerial Vehicle with a Suspended Payload." Electronics 8, no. 9 (August 25, 2019): 931. http://dx.doi.org/10.3390/electronics8090931.

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Unmanned aerial vehicles (UAVs) demonstrate excellent manoeuvrability in cluttered environments, which makes them a suitable platform as a data collection and parcel delivering system. In this work, the attitude and position control challenges for a drone with a package connected by a wire is analysed. During the delivering task, it is very difficult to eliminate the external unpredictable disturbances. A robust neural network-based backstepping sliding mode control method is designed, which is capable of monitoring the drone’s flight path and desired attitude with a suspended cable attached. The convergence of the position and attitude errors together with the Lyapunov function are employed to attest to the robustness of the nonlinear transportation platform. The proposed control system is tested with a simulation and in an outdoor environment. The simulation and open field test results for the UAV transportation platform verify the controllers’ reliability.

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13

Qian, Longhao, and Hugh H. T. Liu. "Path-Following Control of A Quadrotor UAV With A Cable-Suspended Payload Under Wind Disturbances." IEEE Transactions on Industrial Electronics 67, no. 3 (March 2020): 2021–29. http://dx.doi.org/10.1109/tie.2019.2905811.

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14

Habibi, Hossein, and William O’Connor. "Payload motion control of rotary gantry and luffing cranes using mechanical wave concepts." Transactions of the Institute of Measurement and Control 39, no. 11 (May 10, 2016): 1649–62. http://dx.doi.org/10.1177/0142331216644044.

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A new solution is presented to the problem of controlling the motion of a crane’s suspended load through arbitrarily complex, 3D paths through the crane’s manoeuvre space. A generalized boom crane arrangement is considered, so that gantry and luffing arrangements are included as particular cases. Thus the crane’s boom slews about a central, vertical (tower) axis. This boom is either a horizontal gantry with a trolley moving radially along it, from which the load can be winched, or a jib, which can rotate in the vertical plane, with the hoisting cable passing over a pulley attached at its end point. In either case, there are three directly controlled motion variables, the effects of which on the suspended payload’s motion are strongly cross-coupled. The challenge is to enable the payload to follow the desired 3D path as closely as possible during the manoeuvre, and come to rest rapidly at target, by directly controlling these three actuating motions. Thus the controller must achieve position control combined with active swing suppression throughout the manoeuvre and on arrival at the desired end point. A model is developed of the generalized crane for both gantry and luffing crane types. The proposed control strategy is then applied and tested on this model. The controller is based on mechanical wave concepts. When applied to the model, it is shown to be very effective. It is accurate, robust to system changes and actuator limitations, very stable, requires sensing only at the trolley (and not at payload), and is easy to implement.

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15

Guo, Minhuan, Yan Su, and Dongbing Gu. "Mixed H 2 / H ∞ Tracking Control with Constraints for Single Quadcopter Carrying a Cable-suspended Payload." IFAC-PapersOnLine 50, no. 1 (July 2017): 4869–74. http://dx.doi.org/10.1016/j.ifacol.2017.08.976.

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16

Guerrero-Sánchez, María-Eusebia, Omar Hernández-González, Rogelio Lozano, Carlos-D. García-Beltrán, Guillermo Valencia-Palomo, and Francisco-R. López-Estrada. "Energy-Based Control and LMI-Based Control for a Quadrotor Transporting a Payload." Mathematics 7, no. 11 (November 11, 2019): 1090. http://dx.doi.org/10.3390/math7111090.

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This paper presents the control of a quadrotor with a cable-suspended payload. The proposed control structure is a hierarchical scheme consisting of an energy-based control (EBC) to stabilize the vehicle translational dynamics and to attenuate the payload oscillation, together with a nonlinear state feedback controller based on an linear matrix inequality (LMI) to control the quadrotor rotational dynamics. The payload swing control is based on an energy approach and the passivity properties of the system’s translational dynamics. The main advantage of the proposed EBC strategy is that it does not require excessive computations and complex partial differential equations (PDEs) for implementing the control algorithm. We present a new methodology for using an LMI to synthesize the controller gains for Lipschitz nonlinear systems with larger Lipschitz constants than other classical techniques based on LMIs. This theoretical approach is applied to the quadrotor rotational dynamics. Stability proofs based on the Lyapunov theory for the controller design are presented. The designed control scheme allows for the stabilization of the system in all its states for the three-dimensional case. Numerical simulations demonstrating the effectiveness of the controller are provided.

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17

Mologni, Omar, Luca Marchi, Kevin C. Lyons, Stefano Grigolato, Raffaele Cavalli, and Dominik Röser. "Skyline Tensile Forces in Cable Logging." Croatian journal of forest engineering 42, no. 2 (January 14, 2021): 227–43. http://dx.doi.org/10.5552/crojfe.2021.722.

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Skyline tensile forces have been shown to frequently exceed the recommended safety limits during ordinary cable logging operations. Several models for skyline engineering analyses have been proposed. Although skyline tensile forces assume a dynamic behaviour, practical solutions are based on a static approach without consideration of the dynamic nature of the cable systems.The aim of this study was to compare field data of skyline tensile forces with the static calculations derived by dedicated available software such as SkylineXL. To overcome the limitation of static calculation, this work also aimed to simulate the actual response of the tensile fluctuations measured in the real environment by mean of a finite element model (FEM).Field observations of skyline tensile forces included 103 work cycles, recorded over four different cable lines in standing skyline configuration. Payload estimations, carriages positions, and time study of the logging operations were also collected in the field. The ground profiles and the cable line geometries were analysed using digital elevation models. The field data were then used to simulate the work cycles in SkylineXL. The dynamic response of six fully-suspended loads in a single-span cable line was also simulated by a dedicated FEM built through ANSYS®. The observed data and the software calculations were then compared.SkylineXL resulted particularly reliable in the prediction of the actual tensile forces, with RMSE ranging between 7.5 and 13.5 KN, linked to an average CV(RMSE) of 7.24%. The reliability in predicting the peak tensile forces was lower, reporting CV(RMSE) of 10.12%, but still not likely resulting in a safety or performance problem. If properly set-up and used, thus, SkylineXL could be considered appropriate for operational and practical purposes. This work, however, showed that finite element models could be successfully used for detailed analysis and simulation of the skyline tensile forces, including the dynamic oscillations due to the motion of the carriage and payload along the cable line. Further developments of this technique could also lead to the physical simulation and analysis of the log-to-ground interaction and the investigation of the breakout force during lateral skidding.

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18

J. Castillo-Garcia, F., P. Rea, A. Gonzalez-Rodriguez, and E. Ottaviano. "On the Design of a 4 Degrees-of-freedom Pick and Place Cable Suspended Parallel Manipulator." IAES International Journal of Robotics and Automation (IJRA) 6, no. 4 (December 1, 2017): 286. http://dx.doi.org/10.11591/ijra.v6i4.pp286-302.

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This paper proposes the design and control strategy for a four degrees-of-freedom spatial cable-suspended parallel robot for pick and place operations. Pick and place is a repetitive task requiring payload changes for the movement to pick-up the object, and the movement to the nal pose to release the manipulated object. In this paper, a new robust control strategy has been proposed, together with proper trajectories for the required operation. The control strategy consists on the system decoupling and linearization by means of a feedforward term and a cascade PD controller. The main advantage of the proposed solution is that its design can be scalable in size spanning from centimeters to meters with a relatively good positioning accuracy. Finally, simulations are reported to show the overall performances of the proposed con guration for pick and place operations with a medium size manipulator.

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19

Morrish, L., M. P. Cartmell, and A. J. Taylor. "Geometry and kinematics of multicable spreader lifting gear." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 211, no. 3 (March 1, 1997): 185–94. http://dx.doi.org/10.1243/0954406971521764.

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This paper presents a novel theoretical study of the geometry and derived kinematics of a typical multicable suspension system as encountered on a rubber tyred gantry (RTG) crane. Machines of this sort are used extensively in the international container handling business but, to date, little has been known about the precise motions of cable suspended spreaders other than general intuitions about fore—aft, lateral and rotational oscillations. Such motions are initiated by driver-controlled motion of the gantry itself (by torques applied to the driving wheels) and by across-the-vehicle motions of the trolley from which the spreader and container payload are suspended. The work reported here shows the complete derivation for spreader coordinates, relative to the trolley, for any translational and/or rotational displacement. Conventional geometrical and trigonometrical principles are used throughout the development. This research forms an integral part of a larger programme of work to propose strategies for accurate spreader motion control based on non-linear dynamic models.

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20

Urbina-Brito, Norberto, María-Eusebia Guerrero-Sánchez, Guillermo Valencia-Palomo, Omar Hernández-González, Francisco-Ronay López-Estrada, and José Antonio Hoyo-Montaño. "A Predictive Control Strategy for Aerial Payload Transportation with an Unmanned Aerial Vehicle." Mathematics 9, no. 15 (August 1, 2021): 1822. http://dx.doi.org/10.3390/math9151822.

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This paper presents the results of a model-based predictive control (MPC) design for a quadrotor aerial vehicle with a suspended load. Unlike previous works, the controller takes into account the hanging payload dynamics, the dynamics in three-dimensional space, and the vehicle rotation, achieving a good balance between fast stabilization times and small swing angles. The mathematical model is based on the Euler–Lagrange formulation and considers the dynamics of the vehicle, the cable, and the load. Then, the mathematical model is represented as an input-affine system to obtain the linear model for the control design. A constrained MPC strategy was designed and compared with an unconstrained MPC and an algorithm from the literature for the case of study. The constraints to be considered include the limits on the swing angles and the quadrotor position. The constrained control algorithm was constructed to stabilize the aerial vehicle. It aims to track a trajectory reference while attenuating the load swing, considering a maximum swing range of ±10∘. Numerical simulations were carried out to validate the control strategy.

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21

Zeng, Jun, Prasanth Kotaru, Mark W. Mueller, and Koushil Sreenath. "Differential Flatness Based Path Planning With Direct Collocation on Hybrid Modes for a Quadrotor With a Cable-Suspended Payload." IEEE Robotics and Automation Letters 5, no. 2 (April 2020): 3074–81. http://dx.doi.org/10.1109/lra.2020.2972845.

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22

Abdel-Rahman, Eihab, and Ali H. Nayfeh. "Two-Dimensional Control for Ship-Mounted Cranes: A Feasibility Study." Journal of Vibration and Control 9, no. 12 (December 2003): 1327–42. http://dx.doi.org/10.1177/1077546304031164.

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We test the feasibility of employing an exclusively planar control effort to suppress unsafe ship-mounted crane pendulations induced by sea motions. The new crane configuration, designed to apply the control effort, is modeled and the proposed control effort, employing Coulomb friction and viscous damping, is applied. The three-dimensional nonlinear dynamics of the crane is then investigated. The new crane configuration, dubbed Maryland rigging, transforms a crane from a single spherical pendulum to a double pendulum system. The upper pendulum, a pulley riding on a cable suspended from the boom, is constrained to move over an ellipsoid. The major axis of the ellipsoid is the boom and the foci are the two points at which the riding cable attaches to it. The lower pendulum, the payload suspended by a cable from the pulley, continues to act as a spherical pendulum. Due to the geometry of the ellipsoid, the natural frequencies of the crane in the plane of the boom (in-plane) are almost equal to the out-of-plane natural frequencies. The model is used to examine the response of a Maryland rigged crane to direct, in-plane, harmonic forcing. The frequency of the excitation is set almost equal to the crane's lowest natural frequency. It is found that under this excitation and due to the one-to-one internal resonance between the lowest in-plane and out-of-plane natural frequencies, significant out-of-plane motions are induced by applying a purely in-plane forcing. Thus, an in-plane control mechanism is not adequate for safe operation of the crane. To guarantee safe operation of a ship-mounted crane, both in-plane and out-of-plane control efforts must be applied.

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23

Godbole, Ameya R., and Kamesh Subbarao. "Nonlinear control of unmanned aerial vehicles with cable suspended payloads." Aerospace Science and Technology 93 (October 2019): 105299. http://dx.doi.org/10.1016/j.ast.2019.07.032.

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24

Campeau-Lecours, Alexandre, Simon Foucault, Thierry Laliberte, Boris Mayer-St-Onge, and Clement Gosselin. "A Cable-Suspended Intelligent Crane Assist Device for the Intuitive Manipulation of Large Payloads." IEEE/ASME Transactions on Mechatronics 21, no. 4 (August 2016): 2073–84. http://dx.doi.org/10.1109/tmech.2016.2531626.

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25

Eglynas, Tomas, Marijonas Bogdevičius, Arūnas Andziulis, and Mindaugas Jusis. "Trolley Motion Control Based on S-shaped Velocity Profile for Quay Crane Cargo Oscillation Comparison." Mokslas - Lietuvos ateitis 9, no. 3 (July 4, 2017): 283–88. http://dx.doi.org/10.3846/mla.2017.1034.

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Quay cranes are used to move containers from ship to store in minimum time so that the load reaches its destination without payload oscillation. During the operations, containers are suspended by cables and it’s free to swing by motion. This paper investigates the two different velocity profiling techniques used for quay crane control and cargo stabilization. A laboratory scaled model of a crane is used to experimentally research, where the trolley acceleration is used as input, for suppressing the container sway. The residual cargo oscillation problems using different velocity profiles are discussed.

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26

Kirchgessner, Norbert, Frank Liebisch, Kang Yu, Johannes Pfeifer, Michael Friedli, Andreas Hund, and Achim Walter. "The ETH field phenotyping platform FIP: a cable-suspended multi-sensor system." Functional Plant Biology 44, no. 1 (2017): 154. http://dx.doi.org/10.1071/fp16165.

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Crop phenotyping is a major bottleneck in current plant research. Field-based high-throughput phenotyping platforms are an important prerequisite to advance crop breeding. We developed a cable-suspended field phenotyping platform covering an area of ~1 ha. The system operates from 2 to 5 m above the canopy, enabling a high image resolution. It can carry payloads of up to 12 kg and can be operated under adverse weather conditions. This ensures regular measurements throughout the growing period even during cold, windy and moist conditions. Multiple sensors capture the reflectance spectrum, temperature, height or architecture of the canopy. Monitoring from early development to maturity at high temporal resolution allows the determination of dynamic traits and their correlation to environmental conditions throughout the entire season. We demonstrate the capabilities of the system with respect to monitoring canopy cover, canopy height and traits related to thermal and multi-spectral imaging by selected examples from winter wheat, maize and soybean. The system is discussed in the context of other, recently established field phenotyping approaches; such as ground-operating or aerial vehicles, which impose traffic on the field or require a higher distance to the canopy.

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27

Ullah, Nasim, Irfan Sami, Wang Shaoping, Hamid Mukhtar, Xingjian Wang, Md Shahariar Chowdhury, and Kuaanan Techato. "A computationally efficient adaptive robust control scheme for a quad-rotor transporting cable-suspended payloads." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, May 25, 2021, 095441002110136. http://dx.doi.org/10.1177/09544100211013617.

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This article proposes a computationally efficient adaptive robust control scheme for a quad-rotor with cable-suspended payloads. Motion of payload introduces unknown disturbances that affect the performance of the quad-rotor controlled with conventional schemes, thus novel adaptive robust controllers with both integer- and fractional-order dynamics are proposed for the trajectory tracking of quad-rotor with cable-suspended payload. The disturbances acting on quad-rotor due to the payload motion are estimated by utilizing adaptive laws derived from integer- and fractional-order Lyapunov functions. The stability of the proposed control systems is guaranteed using integer- and fractional-order Lyapunov theorems. Overall, three variants of the control schemes, namely adaptive fractional-order sliding mode (AFSMC), adaptive sliding mode (ASMC), and classical Sliding mode controllers (SMC)s) are tested using processor in the loop experiments, and based on the two performance indicators, namely robustness and computational resource utilization, the best control scheme is evaluated. From the results presented, it is verified that ASMC scheme exhibits comparable robustness as of SMC and AFSMC, while it utilizes less sources as compared to AFSMC.

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28

Zameroski, Daniel, Gregory Starr, John Wood, and Ron Lumia. "Rapid Swing-Free Transport of Nonlinear Payloads Using Dynamic Programming." Journal of Dynamic Systems, Measurement, and Control 130, no. 4 (June 4, 2008). http://dx.doi.org/10.1115/1.2936384.

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Residual vibration suppression in freely suspended payload transports has been the focus of extensive work in the past. Many methods have been used to address this problem, including both open-loop motion planning and closed-loop control techniques. However, to be effective, most of these methods require linearization of the system and, in turn, have been restricted in their maneuver speeds. The inherent nonlinearity of suspended payload systems suggests the need for a more rigorous method, where the complete dynamic description can be retained throughout the optimization. Dynamic programming (DP) is such a method. This paper will outline the development of the DP algorithm for a discrete time system as well as its application to the rapid transport of a doubly suspended payload, a nonlinear system. The system consists of a long slender payload, suspended by a cable at each end. The two cables are each held by an independent robot manipulator. We will show that DP is effective at reducing residual oscillations for nonlinear systems, as demonstrated by both simulations and experimental validation. Residual oscillations were suppressed to less than 5% of their original magnitudes.

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29

Lee, Sangheon, and Hungsun Son. "Antisway Control of a Multirotor With Cable-Suspended Payload." IEEE Transactions on Control Systems Technology, 2020, 1–9. http://dx.doi.org/10.1109/tcst.2020.3035004.

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30

Prajapati, Pratik, Sagar Parekh, and Vineet Vashista. "On-board cable attitude measurement and controller for outdoor aerial transportation." Robotica, September 17, 2021, 1–15. http://dx.doi.org/10.1017/s0263574721001302.

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Abstract Deploying quadcopters for aerial transportation can be cost effective in impromptu material handling applications. However, such applications are limited mainly due to the requirement of onboard localization sensors and associated computation. The current work presents a human-controlled modality to successfully execute spontaneous outdoor flight of a quadcopter with a cable-suspended payload. Stable and smooth flights are achieved through an onboard integration of a custom-built sensor system and a controller to minimize payload oscillations. The feasibility of the proposed modality is demonstrated by conducting outdoor experiments and a case study in an unstructured environment.

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31

Liang, Xiao, Yongchun Fang, Ning Sun, He Lin, and Xingang Zhao. "Adaptive Nonlinear Hierarchical Control for a Rotorcraft Transporting a Cable-Suspended Payload." IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2020, 1–12. http://dx.doi.org/10.1109/tsmc.2019.2931812.

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32

Mohammadi, Keyvan, Shahin Sirouspour, and Ali Grivani. "Passivity-Based Control of Multiple Quad-Rotors Carrying a Cable-Suspended Payload." IEEE/ASME Transactions on Mechatronics, 2021, 1. http://dx.doi.org/10.1109/tmech.2021.3102522.

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33

Erskine, Julian, Abdelhamid Chriette, and Stéphane Caro. "Wrench Analysis of Cable-Suspended Parallel Robots Actuated by Quadrotor Unmanned Aerial Vehicles." Journal of Mechanisms and Robotics 11, no. 2 (February 22, 2019). http://dx.doi.org/10.1115/1.4042513.

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Aerial cable towed systems (ACTSs) can be created by joining unmanned aerial vehicles (UAVs) to a payload to extend the capabilities of the system beyond those of an individual UAV. This paper describes a systematic method for evaluating the available wrench set and the robustness of equilibrium of ACTSs by adapting wrench analysis techniques used in traditional cable-driven parallel robots to account for the constraints of quadrotor actuation and dynamics. Case studies and experimental results are provided to demonstrate the analysis of different classes of ACTSs, as a means of evaluating the design and operating configurations.

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Alkomy, Hassan, and Jinjun Shan. "Vibration reduction of a quadrotor with a cable-suspended payload using polynomial trajectories." Nonlinear Dynamics, May 5, 2021. http://dx.doi.org/10.1007/s11071-021-06464-6.

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Lv, Zongyang, Shengming Li, Yuhu Wu, and Qing-Guo Wang. "Adaptive Control for a Quadrotor Transporting a Cable-suspended Payload with Unknown Mass in the Presence of Rotor Downwash." IEEE Transactions on Vehicular Technology, 2021, 1. http://dx.doi.org/10.1109/tvt.2021.3096234.

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Tran, Vu Phi, Fendy Santoso, Matt Garratt, and Sreenatha Anavatti. "Neural Network-Based Self-Learning of an Adaptive Strictly Negative Imaginary Tracking Controller for a Quadrotor Transporting a Cable-Suspended Payload with Minimum Swing." IEEE Transactions on Industrial Electronics, 2020, 1. http://dx.doi.org/10.1109/tie.2020.3026302.

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Kant, Nilay. "Damping Oscillation of Suspended Payload by Varying String Length." ASME Letters in Dynamic Systems and Control 2, no. 1 (May 31, 2021). http://dx.doi.org/10.1115/1.4051096.

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Abstract Many modern-day applications involve transport of objects suspended through cables such as in overhead cranes or landing of rovers on the Martian surface. Any undesired oscillation of the payload has the potential risk of instability, and the problem of damping such oscillation and stabilizing the payload at the desired length is the control objective of this article. The system is modeled as a variable length pendulum (VLP), which comprises a payload suspended via a string wrapped around a pulley. The length of the pendulum is varied using clockwise/counterclockwise rotation of the pulley through torque applied by a motor. For a known payload mass, a nonlinear control design is first presented that guarantees asymptotic stability of the desired equilibrium with limited state measurements. The design is then modified for it to handle significant uncertainty in payload mass. The effectiveness of both designs is validated in simulations.

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Li, Guanrui, Rundong Ge, and Giuseppe Loianno. "Cooperative Transportation of Cable Suspended Payloads with MAVs using Monocular Vision and Inertial Sensing." IEEE Robotics and Automation Letters, 2021, 1. http://dx.doi.org/10.1109/lra.2021.3065286.

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