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Collaborative Transportation of a Common Payload using Two UAVs Based on Force Feedback Control

Barawkar, Shraddha
http://rave.ohiolink.edu/etdc/view?acc_num=ucin1505125636211596

Abstract Details

2017, MS, University of Cincinnati, Engineering and Applied Science: Mechanical Engineering.
This research presents a novel approach to perform the task of collaborative transportation by using multiple quadcopter Unmanned Aerial Vehicles (UAVs). Collaborative transportation of a common payload would allow bulky, heavy payloads to be carried via multiple small-sized UAVs enabling their applications such as in emergency evacuations. However, from a control perspective, physical interactions between the UAVs and the payload during collaborative transportation present challenges in terms of stability and accurate trajectory tracking. In this paper, a leader-follower approach is implemented. The leader UAV uses a Proportional, Integral and Derivative (PID) controller to reach the desired goal point or follow a prede?ned trajectory. Traditionally, a Position Feedback Controller (PFC) has been used in literature to control the follower UAV. PFC takes the feedback of leader UAVs position to obtain the desired trajectory for the follower UAV which is then tracked using a traditional PID controller. Such control schemes have been shown in literature to work e?ectively in indoor environments using reliable and accurate positional information obtained from motion tracking cameras. However, the research focuses on outdoor application, that requires usage of Global Positioning System (GPS) to receive the positional information of the leader UAV. GPS has inherent errors of order of magnitude that can destabilize the system. The control scheme proposed in this research addresses this major limitation. In this research, a Force Feedback Controller (FFC) is used to control the follower UAV. The FFC provides control based on the interaction forces and torques acting at the follower UAV due to leader UAVs motion. Two control schemes are implemented to develop this FFC. They are Fuzzy Logic (FL) and admittance control respectively. FL emulates human behavior during such collaborative lift. Admittance controller simulates a virtual spring mass damper system, to generate a desired trajectory for the follower UAV. This generated trajectory complies with the contact forces acting on the follower UAV and it is then tracked by a traditional PID controller. With the proposed control schemes, the follower UAV can be controlled without using leaders positional feedback and the system can be implemented for real-world applications. Results of numerical simulations showing the e?ectiveness of the proposed controller for way-point navigation and complex trajectory tracking are presented. The results are compared to the benchmarked PFC implemented for the system.
Manish Kumar, Ph.D. (Committee Chair)
Kelly Cohen, Ph.D. (Committee Member)
Tamara Lorenz, Ph.D. (Committee Member)
106 p.
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Citations

  • Barawkar, S. (2017). Collaborative Transportation of a Common Payload using Two UAVs Based on Force Feedback Control [Master's thesis, University of Cincinnati]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1505125636211596

    APA Style (7th edition)

  • Barawkar, Shraddha. Collaborative Transportation of a Common Payload using Two UAVs Based on Force Feedback Control. 2017. University of Cincinnati, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ucin1505125636211596.

    MLA Style (8th edition)

  • Barawkar, Shraddha. "Collaborative Transportation of a Common Payload using Two UAVs Based on Force Feedback Control." Master's thesis, University of Cincinnati, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1505125636211596

    Chicago Manual of Style (17th edition)

ucin1505125636211596
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© 2017, all rights reserved.
This open access ETD is published by University of Cincinnati and OhioLINK.