Control of Multiple-UAV Conveying Slung Load With Obstacle Avoidance
Quadrotor Unmanned Aerial Vehicles (UAVs) are generally underactuated systems and when load is attached for transportation purposes, the system complexity increases. Therefore, the need to appropriately control such systems becomes paramount as they usually navigate in cluttered environments. In thi...
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| Format: | Article |
| Language: | English |
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IEEE
2022-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9787541/ |
| _version_ | 1828728785302716416 |
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| author | Abdulrahman Aliyu Sami El Ferik |
| author_facet | Abdulrahman Aliyu Sami El Ferik |
| author_sort | Abdulrahman Aliyu |
| collection | DOAJ |
| description | Quadrotor Unmanned Aerial Vehicles (UAVs) are generally underactuated systems and when load is attached for transportation purposes, the system complexity increases. Therefore, the need to appropriately control such systems becomes paramount as they usually navigate in cluttered environments. In this work, we conceptualize the problem of cooperative tracking control for a Multi-agent UAV load system (MUAVLs) whereby each UAV is divided into global position and local attitude subsystems. To ensure that formation is maintained in a desired path, Neural Network Graph-theoretic Distributed Adaptive Control (NNGDAC) is used for the position subsystem with a modified virtual force artificial potential field for obstacle avoidance. Another Adaptive Feedback Linearization (AFBL) controller is also designed for the attitude subsystem which is verified by simulation results. |
| first_indexed | 2024-04-12T14:21:34Z |
| format | Article |
| id | doaj.art-0701d43eb3654a13a81cb21177c1bf00 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-12T14:21:34Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-0701d43eb3654a13a81cb21177c1bf002022-12-22T03:29:33ZengIEEEIEEE Access2169-35362022-01-0110622476225710.1109/ACCESS.2022.31799849787541Control of Multiple-UAV Conveying Slung Load With Obstacle AvoidanceAbdulrahman Aliyu0https://orcid.org/0000-0002-2101-3340Sami El Ferik1https://orcid.org/0000-0001-5648-4786Department of Control and Instrumentation Engineering, King Fahd University of Petroleum and Minerals (KFUPM), Dhahran, Saudi ArabiaDepartment of Control and Instrumentation Engineering, King Fahd University of Petroleum and Minerals (KFUPM), Dhahran, Saudi ArabiaQuadrotor Unmanned Aerial Vehicles (UAVs) are generally underactuated systems and when load is attached for transportation purposes, the system complexity increases. Therefore, the need to appropriately control such systems becomes paramount as they usually navigate in cluttered environments. In this work, we conceptualize the problem of cooperative tracking control for a Multi-agent UAV load system (MUAVLs) whereby each UAV is divided into global position and local attitude subsystems. To ensure that formation is maintained in a desired path, Neural Network Graph-theoretic Distributed Adaptive Control (NNGDAC) is used for the position subsystem with a modified virtual force artificial potential field for obstacle avoidance. Another Adaptive Feedback Linearization (AFBL) controller is also designed for the attitude subsystem which is verified by simulation results.https://ieeexplore.ieee.org/document/9787541/UAVsmulti-agent systemsintelligent controlgraph theoryload transportation |
| spellingShingle | Abdulrahman Aliyu Sami El Ferik Control of Multiple-UAV Conveying Slung Load With Obstacle Avoidance IEEE Access UAVs multi-agent systems intelligent control graph theory load transportation |
| title | Control of Multiple-UAV Conveying Slung Load With Obstacle Avoidance |
| title_full | Control of Multiple-UAV Conveying Slung Load With Obstacle Avoidance |
| title_fullStr | Control of Multiple-UAV Conveying Slung Load With Obstacle Avoidance |
| title_full_unstemmed | Control of Multiple-UAV Conveying Slung Load With Obstacle Avoidance |
| title_short | Control of Multiple-UAV Conveying Slung Load With Obstacle Avoidance |
| title_sort | control of multiple uav conveying slung load with obstacle avoidance |
| topic | UAVs multi-agent systems intelligent control graph theory load transportation |
| url | https://ieeexplore.ieee.org/document/9787541/ |
| work_keys_str_mv | AT abdulrahmanaliyu controlofmultipleuavconveyingslungloadwithobstacleavoidance AT samielferik controlofmultipleuavconveyingslungloadwithobstacleavoidance |