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Position and Attitude Control of a Solution Container Suspended from a Quadrotor Using Variable-Length Cables

Pashaee, Omid | 2025

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 58818 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Sayyaadi, Hassan; Hoviattalab, Maryam
  7. Abstract:
  8. Today, robots and aerial robots are widely used for a variety of tasks. One important type of aerial robot is the quadrotor, which is capable of performing numerous operations. Therefore, controlling such systems is highly important. One of the major applications of aerial robots is transportation and payload delivery, where controller design plays a critical role. Payload transportation missions can be categorized in many different ways, since the system structure and controller design depend on factors such as the type of payload, the connection mechanism, the payload weight, and the mission objectives. For example, transporting a heavy payload may require multiple quadrotors. Likewise, using a robotic arm as an interface or employing a platform suspended by multiple cables significantly alters the system dynamics and, consequently, the controller design. The objective of this research is to transport a viscous liquid container undergoing planar motion that is connected to a quadrotor via three variable-length cables. The purpose of this configuration is to provide sufficient degrees of freedom to position the container at a desired location and orientation, while also suppressing oscillations of both the liquid and the container. This represents a novel system for investigation, and the focus of the study is on designing a controller that enables the system to reach a desired state. In this research, the cables are assumed to be ideal and capable of applying arbitrary forces. To model the sloshing behavior of the liquid, a mass–spring–damper model is used. The quadrotor is assumed to be rigid and non-deformable. Based on these assumptions, the system dynamics are derived and used for controller design. The quadrotor is controlled using feedback linearization, while the cable controllers employ a combination of nonlinear model predictive control and feedback linearization. Due to hardware and software limitations in the simulation environment, a nonlinear model predictive controller with a prediction horizon of one step is used. To improve performance, a reference trajectory is provided to the controller, and near the target state, feedback linearization is applied. The system is then tested in several different scenarios and evaluated under both low and high viscosity conditions. The simulation results demonstrate that the system achieves satisfactory performance
  9. Keywords:
  10. Quadrotor ; Sloshing ; Nonlinear Model Prediction ; Position Control ; Attitude Control ; Nonlinear Predictive Control

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