Equilibria, Stability, and Sensitivity for the Aerial Suspended Beam Robotic System Subject to Parameter Uncertainty

This article studies how parametric uncertainties affect the cooperative manipulation of a cable-suspended beam-shaped load by means of two aerial robots not explicitly communicating with each other. In particular, this article sheds light on the impact of the uncertain knowledge of the model parame...

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Bibliographic Details
Published inIEEE transactions on robotics Vol. 39; no. 5; pp. 1 - 17
Main Authors Gabellieri, Chiara, Tognon, Marco, Sanalitro, Dario, Franchi, Antonio
Format Journal Article
LanguageEnglish
Published New York IEEE 01.10.2023
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Aerial systems
Attitude control
Cables
Closed loops
Communication
Computer Science
cooperative aerial manipulation
Hardware
Internal forces
Load modeling
mechanics and control
motion control
Parameter sensitivity
Parameter uncertainty
Position errors
Regulation
Robotics
Robots
Robustness
Robustness (mathematics)
Sensitivity
Stability
Uncertainty
Motion Control
Cooperative Aerial Manipulation
Aerial Systems: Mechanics and Control
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Summary:This article studies how parametric uncertainties affect the cooperative manipulation of a cable-suspended beam-shaped load by means of two aerial robots not explicitly communicating with each other. In particular, this article sheds light on the impact of the uncertain knowledge of the model parameters available to an established communicationless force-based controller. First, we find the closed-loop equilibrium configurations in the presence of the aforementioned uncertainties, and then, we study their stability. Hence, we show the fundamental role played in the robustness of the load attitude control by the internal force induced in the manipulated object by nonvertical cables. Furthermore, we formally study the sensitivity of the attitude error to such parametric variations, and we provide a method to act on the load position error in the presence of uncertainties. Eventually, we validate the results through an extensive set of numerical tests in a realistic simulation environment, including underactuated aerial vehicles and sagging-prone cables, and through hardware experiments.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
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ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2023.3279033