Collaborative unmanned aerial vehicle (UAV) systems for suspended payload transportation optimize the payload carrying capacity by distributing payload weight among multiple UAVs, allowing heavier cargo to be transported. The system has built-in redundancy providing greater reliability and fault tolerance, as remaining UAVs could also complete the mission if one UAV fails. In payload transport applications, hovering stability of all UAVs is essential to maintain precise position and orientation of the suspended payload for picking and placing. Maintaining stable hovering decreases the possibility of payload swinging or oscillations, which could damage delicate or sensitive material during transportation and may also lead to instability of the overall system. While PID control has been successfully applied to solve the hovering problem of single quadrotor with suspended payload system, it was revealed by the authors’ study that similar PID control framework is not sufficient for the twin quadrotor system carrying a suspended payload. This paper presents a novel PID control framework designed specifically for the coordinated hovering of twin quadrotors engaged in collaborative payload transportation tasks. Extensive simulation tests are carried out in MuJoCo simulation environment to validate the effectiveness of the PID-based control framework. The results show that using the proposed PID control strategy, the collaborative twin quadrotor system achieves superior hovering stability.
Stabilizing a Collaborative Twin Quadrotor System for Hovering with a Cable-Suspended Extended Payload
2023-10-27
444016 byte
Conference paper
Electronic Resource
English
Dynamics and Modeling of a Quadrotor with a Suspended Payload (AIAA 2018-4213)
British Library Conference Proceedings | 2018
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