Dual Quaternion Control of UAVs with Cable-suspended Load

Yuxia Yuan, Markus Ryll

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

Abstract

Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control strategy using dual quaternions for UAVs with cable-suspended loads, focusing on the sling load lifting and tracking problems. By utilizing the mathematical efficiency and compactness of dual quaternions, a unified representation of the UAV and its suspended load's dynamics and kinematics is achieved, facilitating the realization of load lifting and trajectory tracking. The simulation results have tested the proposed strategy's accuracy, efficiency, and robustness. This study makes a substantial contribution to present this novel control strategy that harnesses the benefits of dual quaternions for cargo UAVs. Our work also holds promise for inspiring future innovations in under-actuated systems control using dual quaternions.

OriginalspracheEnglisch
Titel2024 IEEE International Conference on Robotics and Automation, ICRA 2024
Herausgeber (Verlag)Institute of Electrical and Electronics Engineers Inc.
Seiten1561-1567
Seitenumfang7
ISBN (elektronisch)9798350384574
DOIs
PublikationsstatusVeröffentlicht - 2024
Veranstaltung2024 IEEE International Conference on Robotics and Automation, ICRA 2024 - Yokohama, Japan
Dauer: 13 Mai 202417 Mai 2024

Publikationsreihe

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Konferenz

Konferenz2024 IEEE International Conference on Robotics and Automation, ICRA 2024
Land/GebietJapan
OrtYokohama
Zeitraum13/05/2417/05/24

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