Unified Motion Control for Multilift Unmanned Rotorcraft Systems in Forward Flight

Lucio R. Salinas, Javier Gimenez, Daniel C. Gandolfo, Claudio D. Rosales, Ricardo Carelli

Research output: Contribution to journalArticle (Academic Journal)peer-review

3 Citations (Scopus)

Abstract

Interest in multilift rotorcraft systems has reemerged in recent years to overcome some of the problems in single unmanned aerial vehicle handling and delivery systems. Using multiple unmanned rotorcrafts (URs), the load weight can be evenly distributed among the vehicles, extending the flight time and therefore increasing the working distance of such systems. Moreover, with a slung-load configuration, bigger size packages with complex shape and equipment that may interfere with the onboard electronics can be carried. In this context, this article presents a payload-based unified motion control that allows any number of URs to cooperatively transport a slung load in forward flight. The motion control comprises path-following and trajectory-tracking algorithms, considers obstacle avoidance, implements a specific strategy for load weight distribution (load equalization) by regulating the relative altitude of each UR, and is robust to disturbances such as wind. In addition, this work shows that load equalization is essential for slung-load cooperative transport, especially in forward flight. The controller’s stability is analytically studied and the good performance of the system is demonstrated through exhaustive simulations using validated dynamic models for mini-helicopters, cables, and payload. Finally, the relation between load weight and number of URs is analyzed by considering several scenarios.
Original languageEnglish
Pages (from-to)1607-1621
Number of pages15
JournalIEEE Transactions on Control Systems Technology
Volume31
Issue number4
DOIs
Publication statusPublished - 7 Feb 2023

Bibliographical note

Funding Information:
This work was supported in part by the National Scientific and Technical Research Council (CONICET), Argentina, and in part by Innovate U.K. under Grant 10023377.

Publisher Copyright:
© 1993-2012 IEEE.

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