Dual Quaternion Control of UAVs with Cable-suspended Load

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Bibliographic Details
Main Authors:	Yuan, Yuxia, Ryll, Markus
Format:	Preprint
Published:	2024
Subjects:	Robotics
Online Access:	Acceder al recurso
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author	Yuan, Yuxia Ryll, Markus
author_facet	Yuan, Yuxia Ryll, Markus
contents	Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control strategy using dual quaternions for UAVs with cable-suspended loads, focusing on the sling load lifting and tracking problems. By utilizing the mathematical efficiency and compactness of dual quaternions, a unified representation of the UAV and its suspended load's dynamics and kinematics is achieved, facilitating the realization of load lifting and trajectory tracking. The simulation results have tested the proposed strategy's accuracy, efficiency, and robustness. This study makes a substantial contribution to present this novel control strategy that harnesses the benefits of dual quaternions for cargo UAVs. Our work also holds promise for inspiring future innovations in under-actuated systems control using dual quaternions.
format	Preprint
id	arxiv_https___arxiv_org_abs_2404_07635
institution	arXiv
publishDate	2024
record_format	arxiv
spellingShingle	Dual Quaternion Control of UAVs with Cable-suspended Load Yuan, Yuxia Ryll, Markus Robotics Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control strategy using dual quaternions for UAVs with cable-suspended loads, focusing on the sling load lifting and tracking problems. By utilizing the mathematical efficiency and compactness of dual quaternions, a unified representation of the UAV and its suspended load's dynamics and kinematics is achieved, facilitating the realization of load lifting and trajectory tracking. The simulation results have tested the proposed strategy's accuracy, efficiency, and robustness. This study makes a substantial contribution to present this novel control strategy that harnesses the benefits of dual quaternions for cargo UAVs. Our work also holds promise for inspiring future innovations in under-actuated systems control using dual quaternions.
title	Dual Quaternion Control of UAVs with Cable-suspended Load
topic	Robotics
url	https://arxiv.org/abs/2404.07635

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