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Partial Feedback Linearization Control of a Cable-Suspended Multirotor Platform for Stabilization of an Attached Load

Hemjyoti Das, Christian Ott

TL;DR

This paper tackles stabilizing a cable-suspended multirotor platform with an attached load, an underactuated, coupled dynamic system. It introduces a partial feedback linearization (PFL) control framework that preserves key inter-dynamics terms to stabilize the full system using onboard sensors alone. Through numerical stability analysis, comprehensive simulations, and real-world experiments, the authors demonstrate robust stabilization under wind disturbances, sensor noise, and model uncertainties, and show the approach can operate around non-equilibrium points. The work advances payload transportation on construction-site cranes by leveraging coupling effects to improve stabilization performance while maintaining hardware simplicity and onboard sensing.

Abstract

In this work, we present a novel control approach based on partial feedback linearization (PFL) for the stabilization of a suspended aerial platform with an attached load. Such systems are envisioned for various applications in construction sites involving cranes, such as the holding and transportation of heavy objects. Our proposed control approach considers the underactuation of the whole system while utilizing its coupled dynamics for stabilization. We demonstrate using numerical stability analysis that these coupled terms are crucial for the stabilization of the complete system. We also carried out robustness analysis of the proposed approach in the presence of external wind disturbances, sensor noise, and uncertainties in system dynamics. As our envisioned target application involves cranes in outdoor construction sites, our control approaches rely on only onboard sensors, thus making it suitable for such applications. We carried out extensive simulation studies and experimental tests to validate our proposed control approach.

Partial Feedback Linearization Control of a Cable-Suspended Multirotor Platform for Stabilization of an Attached Load

TL;DR

This paper tackles stabilizing a cable-suspended multirotor platform with an attached load, an underactuated, coupled dynamic system. It introduces a partial feedback linearization (PFL) control framework that preserves key inter-dynamics terms to stabilize the full system using onboard sensors alone. Through numerical stability analysis, comprehensive simulations, and real-world experiments, the authors demonstrate robust stabilization under wind disturbances, sensor noise, and model uncertainties, and show the approach can operate around non-equilibrium points. The work advances payload transportation on construction-site cranes by leveraging coupling effects to improve stabilization performance while maintaining hardware simplicity and onboard sensing.

Abstract

In this work, we present a novel control approach based on partial feedback linearization (PFL) for the stabilization of a suspended aerial platform with an attached load. Such systems are envisioned for various applications in construction sites involving cranes, such as the holding and transportation of heavy objects. Our proposed control approach considers the underactuation of the whole system while utilizing its coupled dynamics for stabilization. We demonstrate using numerical stability analysis that these coupled terms are crucial for the stabilization of the complete system. We also carried out robustness analysis of the proposed approach in the presence of external wind disturbances, sensor noise, and uncertainties in system dynamics. As our envisioned target application involves cranes in outdoor construction sites, our control approaches rely on only onboard sensors, thus making it suitable for such applications. We carried out extensive simulation studies and experimental tests to validate our proposed control approach.
Paper Structure (8 sections, 3 equations, 8 figures, 2 tables)

This paper contains 8 sections, 3 equations, 8 figures, 2 tables.

Table of Contents

  1. Introduction
  2. System Modelling
  3. Partial Feedback Linearization
  4. Simulation Results
  5. Simulation Setup
  6. Robustness Analysis
  7. Experimental Results
  8. Conclusion and Future Work

Figures (8)

  • Figure 1: Cable-suspended multirotor platform with an attached load used for experimental validation (left) and the envisioned target application of load transportation using cranes in construction sites (right).
  • Figure 2: Schematic diagram of the cable-suspended multirotor platform with the attached load (left) and stabilization of the simulated system about non-equilibrium points $q_1 =$ -0.1rad, $q_2 =$ -0.5rad, $q_3 =$ 0rad, $q_4 =$ 0.1rad and $q_5=$ 0.5rad (right).
  • Figure 3: Sequences of tracking a sinusoidal reference by the suspended multirotor platform with the attached load. The orange arrow indicates the direction of the tracking motion.
  • Figure 4: System behavior and commanded wrenches by the platform for a heavy load under wind disturbances. The periods of wind disturbance between 10s and 20s is highlighted in orange.
  • Figure 5: System behaviour and commanded wrenches by the platform for the stabilization scenario consisting of model uncertainties and sensor noise.
  • ...and 3 more figures