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Human Physical Interaction based on UAV Cooperative Payload Transportation System using Adaptive Backstepping and FNTSMC

Hussein N. Naser, Hashim A. Hashim, Mojtaba Ahmadi

TL;DR

The paper tackles human-guided cooperative payload transport by two quadrotors rigidly connected to a payload. It introduces a nonlinear control architecture that couples adaptive backstepping for translation with FNTSMC for attitude, while an admittance controller translates human forces into reference trajectories. The approach includes rigorous stability analyses and adaptive parameter schemes, ensuring asymptotic position stability and finite-time attitude convergence. Simulation results in ROS/Gazebo and MATLAB demonstrate robust tracking of human-guided trajectories, with stable system behavior and effective operator interaction in 3D space.

Abstract

This paper presents a nonlinear control strategy for an aerial cooperative payload transportation system consisting of two quadrotor UAVs rigidly connected to a payload. The system includes human physical interaction facilitated by an admittance control. The proposed control framework integrates an adaptive Backstepping controller for the position subsystem and a Fast Nonsingular Terminal Sliding Mode Control (FNTSMC) for the attitude subsystem to ensure asymptotic stabilization. The admittance controller interprets the interaction forces from the human operator, generating reference trajectories for the position controller to ensure accurate tracking of the operator's guidance. The system aims to assist humans in payload transportation, providing both stability and responsiveness. The robustness and effectiveness of the proposed control scheme in maintaining system stability and performance under various conditions are presented.

Human Physical Interaction based on UAV Cooperative Payload Transportation System using Adaptive Backstepping and FNTSMC

TL;DR

The paper tackles human-guided cooperative payload transport by two quadrotors rigidly connected to a payload. It introduces a nonlinear control architecture that couples adaptive backstepping for translation with FNTSMC for attitude, while an admittance controller translates human forces into reference trajectories. The approach includes rigorous stability analyses and adaptive parameter schemes, ensuring asymptotic position stability and finite-time attitude convergence. Simulation results in ROS/Gazebo and MATLAB demonstrate robust tracking of human-guided trajectories, with stable system behavior and effective operator interaction in 3D space.

Abstract

This paper presents a nonlinear control strategy for an aerial cooperative payload transportation system consisting of two quadrotor UAVs rigidly connected to a payload. The system includes human physical interaction facilitated by an admittance control. The proposed control framework integrates an adaptive Backstepping controller for the position subsystem and a Fast Nonsingular Terminal Sliding Mode Control (FNTSMC) for the attitude subsystem to ensure asymptotic stabilization. The admittance controller interprets the interaction forces from the human operator, generating reference trajectories for the position controller to ensure accurate tracking of the operator's guidance. The system aims to assist humans in payload transportation, providing both stability and responsiveness. The robustness and effectiveness of the proposed control scheme in maintaining system stability and performance under various conditions are presented.

Paper Structure

This paper contains 14 sections, 1 theorem, 48 equations, 5 figures, 1 table.

Table of Contents

  1. Introduction
  2. Methodology
  3. System Model
  4. Quadrotor Dynamics
  5. Payload Dynamics
  6. Entire Aerial Assistive System Dynamics
  7. Controller Design and Stability Analysis
  8. Position Control using Adaptive Backstepping
  9. Attitude Subsystem Controller
  10. Sliding surface design
  11. Stability Analysis
  12. Admittance Controller for Human Physical Interaction
  13. Simulation and Numerical Results
  14. Conclusion

Key Result

Theorem 1

Given the system dynamics outlined in xsi and the FNTSM surfaces specified in sliding_surface, the proposed control law in control_final guarantees asymptotic stability of the closed-loop system. Additionally, the system trajectories can reach to the equilibrium state on the FNTSM $(S_{\Phi}=0)$ wit

Figures (5)

  • Figure 1: Free body diagram of the entire system components.
  • Figure 2: Illustrative diagram of the proposed control system.
  • Figure 3: Simulation; (a) The aerial system built in ROS and Gazebo 11, (b) Zigzag corridor as a navigation workplace, (c) MATLAB simulation with tracking path in 3D space.
  • Figure 4: The simulation results; First column for the desired and actual orientation, Second column for the desired and actual position, Third column for the linear velocity in $(x,y,z)$ directions, and the bottom row for the normalized tracking errors.
  • Figure 5: The control inputs.

Theorems & Definitions (3)

  • Remark 1
  • Remark 2
  • Theorem 1