Suspended load path tracking control strategy using a tilt-rotor UAV
| dc.creator | Marcelo Alves dos Santos | |
| dc.creator | Brenner Santana Rego | |
| dc.creator | Guilherme Vianna Raffo | |
| dc.creator | Alessandra Ferramosca | |
| dc.date.accessioned | 2025-04-02T13:33:48Z | |
| dc.date.accessioned | 2025-09-08T23:36:55Z | |
| dc.date.available | 2025-04-02T13:33:48Z | |
| dc.date.issued | 2017 | |
| dc.identifier.doi | https://doi.org//10.1155/2017/9095324 | |
| dc.identifier.issn | 0197-6729 | |
| dc.identifier.uri | https://hdl.handle.net/1843/81212 | |
| dc.language | eng | |
| dc.publisher | Universidade Federal de Minas Gerais | |
| dc.relation.ispartof | Journal of advanced transportation | |
| dc.rights | Acesso Aberto | |
| dc.subject | Aeronave não tripulada | |
| dc.subject | Controle automático | |
| dc.subject.other | model and design of a control and state estimation strategy to path tracking control problem of a suspended load using a tilt-rotor UAV operating in the helicopter flight-mode | |
| dc.subject.other | an unscented Kalman filter is proposed for nonlinear state estimation of all the state variables | |
| dc.title | Suspended load path tracking control strategy using a tilt-rotor UAV | |
| dc.type | Artigo de periódico | |
| local.citation.epage | 22 | |
| local.citation.spage | 1 | |
| local.description.resumo | This work proposes a control strategy to solve the path tracking problem of a suspended load carried by a tilt-rotor unmanned aerial vehicle (UAV). Initially, the equations of motion for the multibody mechanical system are derived from the load’s perspective by means of the Euler-Lagrange formulation, in which the load’s position and orientation are chosen as degrees of freedom. An unscented Kalman filter (UKF) is designed for nonlinear state estimation of all the system states, assuming that available information is provided by noisy sensors with different sampling rates that do not directly measure the load’s attitude. Furthermore, a model predictive control (MPC) strategy is proposed for path tracking of the suspended load with stabilization of the tilt-rotor UAV when parametric uncertainties and external disturbances affect the load, the rope’s length and total system mass vary during taking-off and landing, and the desired yaw angle changes throughout the trajectory. Finally, numerical experiments are presented to corroborate the good performance of the proposed strategy. | |
| local.publisher.country | Brasil | |
| local.publisher.department | ENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA | |
| local.publisher.initials | UFMG | |
| local.url.externa | https://onlinelibrary.wiley.com/doi/10.1155/2017/9095324 |