TY - GEN
T1 - Dual Quaternion Control of UAVs with Cable-suspended Load
AU - Yuan, Yuxia
AU - Ryll, Markus
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85202453058&partnerID=8YFLogxK
U2 - 10.1109/ICRA57147.2024.10610170
DO - 10.1109/ICRA57147.2024.10610170
M3 - Conference contribution
AN - SCOPUS:85202453058
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1561
EP - 1567
BT - 2024 IEEE International Conference on Robotics and Automation, ICRA 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2024 IEEE International Conference on Robotics and Automation, ICRA 2024
Y2 - 13 May 2024 through 17 May 2024
ER -