Geometric Modeling and Controllability Analysis of a Quadrotor with a Suspended Load

Yulin Wang; Sheng Ing Tang; Jie Guo; Chao Liu

doi:10.23919/ChiCC.2018.8483299

Geometric Modeling and Controllability Analysis of a Quadrotor with a Suspended Load

Yulin Wang, Sheng Ing Tang, Jie Guo, Chao Liu

School of Aerospace Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper addresses the modeling and controllability analysis for the hybrid multi-body systems of a quadrotor with a cable suspended load. According to the cable is stressed or not, two subsystems of this hybrid multi-body model are built on the nonlinear manifolds \mathbb{R}^{3}\times \mathbb{R}^{3}\times SO(3) and \mathbb{R}^{3}\times \mathbb{S}^{2}\times SO(3), respectively, which have simpler and more global expressions compared with those on local parameter presentations. And the switching characteristics between these two subsystems are considered. Moreover, it is verified that the subsystem with zero cable tension is uncontrollable and the subsystem with nonzero cable tension is linear locally controllable and small time local controllable (STLC) using linear and nonlinear theory, respectively.

Original language	English
Title of host publication	Proceedings of the 37th Chinese Control Conference, CCC 2018
Editors	Xin Chen, Qianchuan Zhao
Publisher	IEEE Computer Society
Pages	1949-1953
Number of pages	5
ISBN (Electronic)	9789881563941
DOIs	https://doi.org/10.23919/ChiCC.2018.8483299
Publication status	Published - 5 Oct 2018
Event	37th Chinese Control Conference, CCC 2018 - Wuhan, China Duration: 25 Jul 2018 → 27 Jul 2018

Publication series

Name	Chinese Control Conference, CCC
Volume	2018-July
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	37th Chinese Control Conference, CCC 2018
Country/Territory	China
City	Wuhan
Period	25/07/18 → 27/07/18

Keywords

A quadrotor with a suspended load
Aerial transportation
Controllability
Hybrid dynamics system
STLC

Access to Document

10.23919/ChiCC.2018.8483299

Cite this

Wang, Y., Tang, S. I., Guo, J., & Liu, C. (2018). Geometric Modeling and Controllability Analysis of a Quadrotor with a Suspended Load. In X. Chen, & Q. Zhao (Eds.), Proceedings of the 37th Chinese Control Conference, CCC 2018 (pp. 1949-1953). Article 8483299 (Chinese Control Conference, CCC; Vol. 2018-July). IEEE Computer Society. https://doi.org/10.23919/ChiCC.2018.8483299

@inproceedings{9c9190c2fc5d4466a82f8c2ae2572e6d,

title = "Geometric Modeling and Controllability Analysis of a Quadrotor with a Suspended Load",

abstract = "This paper addresses the modeling and controllability analysis for the hybrid multi-body systems of a quadrotor with a cable suspended load. According to the cable is stressed or not, two subsystems of this hybrid multi-body model are built on the nonlinear manifolds \textbackslash{}mathbb\{R\}\textasciicircum{}\{3\}\textbackslash{}times \textbackslash{}mathbb\{R\}\textasciicircum{}\{3\}\textbackslash{}times SO(3) and \textbackslash{}mathbb\{R\}\textasciicircum{}\{3\}\textbackslash{}times \textbackslash{}mathbb\{S\}\textasciicircum{}\{2\}\textbackslash{}times SO(3), respectively, which have simpler and more global expressions compared with those on local parameter presentations. And the switching characteristics between these two subsystems are considered. Moreover, it is verified that the subsystem with zero cable tension is uncontrollable and the subsystem with nonzero cable tension is linear locally controllable and small time local controllable (STLC) using linear and nonlinear theory, respectively.",

keywords = "A quadrotor with a suspended load, Aerial transportation, Controllability, Hybrid dynamics system, STLC",

author = "Yulin Wang and Tang, \{Sheng Ing\} and Jie Guo and Chao Liu",

note = "Publisher Copyright: {\textcopyright} 2018 Technical Committee on Control Theory, Chinese Association of Automation.; 37th Chinese Control Conference, CCC 2018 ; Conference date: 25-07-2018 Through 27-07-2018",

year = "2018",

month = oct,

day = "5",

doi = "10.23919/ChiCC.2018.8483299",

language = "English",

series = "Chinese Control Conference, CCC",

publisher = "IEEE Computer Society",

pages = "1949--1953",

editor = "Xin Chen and Qianchuan Zhao",

booktitle = "Proceedings of the 37th Chinese Control Conference, CCC 2018",

address = "United States",

}

Wang, Y, Tang, SI, Guo, J & Liu, C 2018, Geometric Modeling and Controllability Analysis of a Quadrotor with a Suspended Load. in X Chen & Q Zhao (eds), Proceedings of the 37th Chinese Control Conference, CCC 2018., 8483299, Chinese Control Conference, CCC, vol. 2018-July, IEEE Computer Society, pp. 1949-1953, 37th Chinese Control Conference, CCC 2018, Wuhan, China, 25/07/18. https://doi.org/10.23919/ChiCC.2018.8483299

Geometric Modeling and Controllability Analysis of a Quadrotor with a Suspended Load. / Wang, Yulin; Tang, Sheng Ing; Guo, Jie et al.
Proceedings of the 37th Chinese Control Conference, CCC 2018. ed. / Xin Chen; Qianchuan Zhao. IEEE Computer Society, 2018. p. 1949-1953 8483299 (Chinese Control Conference, CCC; Vol. 2018-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Geometric Modeling and Controllability Analysis of a Quadrotor with a Suspended Load

AU - Wang, Yulin

AU - Tang, Sheng Ing

AU - Guo, Jie

AU - Liu, Chao

PY - 2018/10/5

Y1 - 2018/10/5

N2 - This paper addresses the modeling and controllability analysis for the hybrid multi-body systems of a quadrotor with a cable suspended load. According to the cable is stressed or not, two subsystems of this hybrid multi-body model are built on the nonlinear manifolds \mathbb{R}^{3}\times \mathbb{R}^{3}\times SO(3) and \mathbb{R}^{3}\times \mathbb{S}^{2}\times SO(3), respectively, which have simpler and more global expressions compared with those on local parameter presentations. And the switching characteristics between these two subsystems are considered. Moreover, it is verified that the subsystem with zero cable tension is uncontrollable and the subsystem with nonzero cable tension is linear locally controllable and small time local controllable (STLC) using linear and nonlinear theory, respectively.

AB - This paper addresses the modeling and controllability analysis for the hybrid multi-body systems of a quadrotor with a cable suspended load. According to the cable is stressed or not, two subsystems of this hybrid multi-body model are built on the nonlinear manifolds \mathbb{R}^{3}\times \mathbb{R}^{3}\times SO(3) and \mathbb{R}^{3}\times \mathbb{S}^{2}\times SO(3), respectively, which have simpler and more global expressions compared with those on local parameter presentations. And the switching characteristics between these two subsystems are considered. Moreover, it is verified that the subsystem with zero cable tension is uncontrollable and the subsystem with nonzero cable tension is linear locally controllable and small time local controllable (STLC) using linear and nonlinear theory, respectively.

KW - A quadrotor with a suspended load

KW - Aerial transportation

KW - Controllability

KW - Hybrid dynamics system

KW - STLC

UR - https://www.scopus.com/pages/publications/85056101546

U2 - 10.23919/ChiCC.2018.8483299

DO - 10.23919/ChiCC.2018.8483299

M3 - Conference contribution

AN - SCOPUS:85056101546

T3 - Chinese Control Conference, CCC

SP - 1949

EP - 1953

BT - Proceedings of the 37th Chinese Control Conference, CCC 2018

A2 - Chen, Xin

A2 - Zhao, Qianchuan

PB - IEEE Computer Society

T2 - 37th Chinese Control Conference, CCC 2018

Y2 - 25 July 2018 through 27 July 2018

ER -

Geometric Modeling and Controllability Analysis of a Quadrotor with a Suspended Load

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