Design, Modeling and Control of a Top-loading Fully-Actuated Cargo Transportation Multirotor
| Autor: | Park, Wooyong, Wu, Xiangyu, Lee, Dongjae, Lee, Seung Jae |
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| Rok vydání: | 2023 |
| Předmět: | |
| Druh dokumentu: | Working Paper |
| DOI: | 10.1109/LRA.2023.3300248 |
| Popis: | Existing multirotor-based cargo transportation does not maintain a constant cargo attitude due to underactuation; however, fragile payloads may require a consistent posture. The conventional method is also cumbersome when loading cargo, and the size of the cargo to be loaded is limited. To overcome these issues, we propose a new fully-actuated multirotor unmanned aerial vehicle platform capable of translational motion while maintaining a constant attitude. Our newly developed platform has a cubic exterior and can freely place cargo at any point on the flat top surface. However, the center-of-mass (CoM) position changes when cargo is loaded, leading to undesired attitudinal motion due to unwanted torque generation. To address this problem, we introduce a new model-free center-of-mass position estimation method inspired by the extremum-seeking control (ESC) technique. Experimental results are presented to validate the performance of the proposed estimation method, effectively estimating the CoM position and showing satisfactory constant-attitude flight performance. Comment: 8 pages, 8 figures, submitted to IEEE RA-L |
| Databáze: | arXiv |
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