Wavelet neural network PID controller for a UAS transporting a cable-suspended load
Sign Up to like & getrecommendations! Published in 2017 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2017.08.419
Abstract: Abstract A novel model-free Adaptive Wavenet PID (AWPID)-based controller for enabling an Unmanned Aircraft System (UAS) to transport a cable suspended load of unknown characteristics is presented. The control design enables the UAS to perform… read more here.
Keywords: cable suspended; wavelet neural; suspended load; neural network ... See more keywords
Trajectory planning for the static to dynamic transition of point-mass cable-suspended parallel mechanisms
Sign Up to like & getrecommendations! Published in 2017 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2017.03.003
Abstract: Abstract This paper presents a trajectory formulation that connects an initial point at rest to a final point to be reached with zero velocity but nonzero acceleration for planar two-dof and spatial three-dof cable-suspended mechanisms… read more here.
Keywords: cable suspended; point; three dof; point mass ... See more keywords
Full-Pose Manipulation Control of a Cable-Suspended Load With Multiple UAVs Under Uncertainties
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2020.2969930
Abstract: In this work we propose an uncertainty-aware controller for the Fly-crane system, a statically rigid cable-suspended aerial manipulator using the minimum number of aerial robots and cables. The force closure property of the Fly-crane makes… read more here.
Keywords: manipulation control; pose manipulation; control; cable suspended ... See more keywords
Scalable Cooperative Transport of Cable-Suspended Loads With UAVs Using Distributed Trajectory Optimization
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2020.2975956
Abstract: Most approaches to multi-robot control either rely on local decentralized control policies that scale well in the number of agents, or on centralized methods that can handle constraints and produce rich system-level behavior, but are… read more here.
Keywords: transport; cable suspended; distributed trajectory; trajectory optimization ... See more keywords
Path Invariant Controllers for a Quadrotor With a Cable-Suspended Payload Using a Global Parameterization
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Control Systems Technology"
DOI: 10.1109/tcst.2021.3133693
Abstract: Payload delivery using unmanned aerial vehicles (UAVs) has attained central importance for smart logistics and transportation systems in the context of the fourth industrial revolution. This work considers the problem of designing a smooth dynamic… read more here.
Keywords: path invariant; payload; cable suspended; path ... See more keywords
Fixed-Time Control for a Quadrotor With a Cable-Suspended Load
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Intelligent Transportation Systems"
DOI: 10.1109/tits.2022.3180733
Abstract: This paper is concerned with the motion control for a quadrotor with a cable-suspended load (QCSL). A fixed-time control strategy is presented to improve the transient response and robustness of the QCSL with external disturbance.… read more here.
Keywords: cable suspended; control quadrotor; cable; control ... See more keywords
Dynamically Feasible Periodic Trajectories for Generic Spatial 3-DOF Cable-Suspended Parallel Robots
Sign Up to like & getrecommendations! Published in 2018 at "Journal of Mechanisms and Robotics"
DOI: 10.1115/1.4039499
Abstract: Cable suspended robots may move beyond their static workspace by keeping all cables under tension, thanks to end-effector inertia forces. This may be used to extend the robot capabilities, by choosing suitable dynamical trajectories. In… read more here.
Keywords: cable suspended; dynamically feasible; cable; trajectories generic ... See more keywords