Control Synthesis for an Underactuated Cable Suspended System Using Dynamic Decoupling

This article studies the dynamics and control of a novel underactuated system: a ball and plate system suspended by a team of quadrotors via cables. The plate is sought to be horizontally stabilized at a certain height, with the ball stabilized at the center of mass of the plate. The freely moving b...

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Bibliographic Details
Main Authors: Nair, Siddharth H., Banavar, Ravi N., Maithripala, D.H.S
Format: Conference Proceeding
Language:English
Subjects:
Dynamics
Feedback linearization
Force
Mathematical model
Mechanical engineering
Payloads
Weapons
Online Access:Request full text
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Summary:This article studies the dynamics and control of a novel underactuated system: a ball and plate system suspended by a team of quadrotors via cables. The plate is sought to be horizontally stabilized at a certain height, with the ball stabilized at the center of mass of the plate. The freely moving ball adds 2 degrees of underactuation to the system. The design proceeds through a decoupling of the quadrotors and the plate dynamics. Through a partial feedback linearization approach, the attitude of the plate and the translational height of the plate is initially controlled, while maintaining a bounded velocity along the y and x directions. These inputs are then synthesized through the quadrotors with a backstepping and timescale separation argument based on Tikhonov's theorem.
ISSN:2378-5861
DOI:10.23919/ACC.2019.8815108