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euler-lagrange-method
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Modeling and control for cooperative transport of a slung fluid container using quadrotors
, Article Chinese Journal of Aeronautics ; Volume 31, Issue 2 , 2018 , Pages 263-273 ; 10009361 (ISSN) ; Soltani, A ; Sharif University of Technology
Chinese Journal of Aeronautics
2018
Abstract
In this paper, dynamic modeling and control problem for transfer of a sloshing liquid container suspended through rigid massless links from a team of quadrotors are investigated. By the proposed solution, pose of the slung container and fluid sloshing modes are stabilized appropriately. Dynamics of the container-liquid-quadrotors system is modeled by Euler-Lagrange method. Fluid slosh dynamics is included using multi-mass-spring model. According to derived model, a proper control law is designed for a system with three or more quadrotors. Implementing the proposed control law, quadrotors can control pose of the container, directions of the links and liquid sloshing modes simultaneously....
Simultaneous trajectory tracking and aerial manipulation using a multi-stage model predictive control
, Article Aerospace Science and Technology ; Volume 112 , 2021 ; 12709638 (ISSN) ; Banazadeh, A ; Sharif University of Technology
Elsevier Masson s.r.l
2021
Abstract
With the exception of a few works, the current approaches to aerial manipulation control do not typically consider the system constraints in the control design process. Also, the issue of closed-loop stability in the presence of system constraints is not thoroughly analyzed. In this paper, a novel multi-stage model predictive control (MPC)-based approach for aerial manipulation is proposed to ensure the closed-loop stability in the presence of model uncertainties and external disturbances, while satisfying the operational constraints. The detailed nonlinear model of a general aerial manipulator, consisting of a quadrotor equipped with a 3 degrees of freedom manipulator, is first developed...