Robust Nonlinear Backstepping FTSMC of a Quadrotor UAV-Suspended Load System with Obstacle Avoidance and Swing Attenuation

Abdulrahman Aliyu; Luai M. Alhems

doi:10.1109/ICECS58634.2023.10382895

Robust Nonlinear Backstepping FTSMC of a Quadrotor UAV-Suspended Load System with Obstacle Avoidance and Swing Attenuation

Abdulrahman Aliyu^*, Luai M. Alhems

^*Corresponding author for this work

Applied Research Center for Metrology, Standards and Testing

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Quadrotor Unmanned Aerial Vehicles Slung Load (QUAVL) systems are affected by the load's unstable oscillation thereby degrading the whole system's performance during flight. As a result, the ease of navigating a QUAVL system in a cluttered environment may be hindered by the load swings which can potentially derail the system from its intended trajectory and cause damages to man and the environment. Furthermore, the accuracy of load placement may also become a bottleneck. Therefore, the adoption of a stabilising controller, an obstacle avoidance strategy and swing suppression is necessary. This work proposes a Nonlinear Backstepping Finite-time Sliding Mode Control (BFTSMC) of an under-actuated (QUAVL) with swing suppression. The controller design is based on Lyapunov stability stand point whereby the effect of load swing is mitigated with an anti-swing control through delayed feedback. Simulation results are used to validate the controller design.

Original language	English
Title of host publication	ICECS 2023 - 2023 30th IEEE International Conference on Electronics, Circuits and Systems
Subtitle of host publication	Technosapiens for Saving Humanity
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9798350326499
DOIs	https://doi.org/10.1109/ICECS58634.2023.10382895
State	Published - 2023
Event	30th IEEE International Conference on Electronics, Circuits and Systems, ICECS 2023 - Istanbul, Turkey Duration: 4 Dec 2023 → 7 Dec 2023

Publication series

Name	ICECS 2023 - 2023 30th IEEE International Conference on Electronics, Circuits and Systems: Technosapiens for Saving Humanity

Conference

Conference	30th IEEE International Conference on Electronics, Circuits and Systems, ICECS 2023
Country/Territory	Turkey
City	Istanbul
Period	4/12/23 → 7/12/23

Bibliographical note

Publisher Copyright:
© 2023 IEEE.

Keywords

Backstepping and Sliding Mode Control
Intelligent Transportation Systems
Nonlinear Systems
Obstacle Avoidance
Smart Cities
Unmanned Aerial Vehicles

ASJC Scopus subject areas

Computer Vision and Pattern Recognition
Information Systems
Biomedical Engineering
Electrical and Electronic Engineering
Instrumentation
Artificial Intelligence

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/ICECS58634.2023.10382895

Cite this

Aliyu, A., & Alhems, L. M. (2023). Robust Nonlinear Backstepping FTSMC of a Quadrotor UAV-Suspended Load System with Obstacle Avoidance and Swing Attenuation. In ICECS 2023 - 2023 30th IEEE International Conference on Electronics, Circuits and Systems: Technosapiens for Saving Humanity (ICECS 2023 - 2023 30th IEEE International Conference on Electronics, Circuits and Systems: Technosapiens for Saving Humanity). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICECS58634.2023.10382895

Aliyu, Abdulrahman ; Alhems, Luai M. / Robust Nonlinear Backstepping FTSMC of a Quadrotor UAV-Suspended Load System with Obstacle Avoidance and Swing Attenuation. ICECS 2023 - 2023 30th IEEE International Conference on Electronics, Circuits and Systems: Technosapiens for Saving Humanity. Institute of Electrical and Electronics Engineers Inc., 2023. (ICECS 2023 - 2023 30th IEEE International Conference on Electronics, Circuits and Systems: Technosapiens for Saving Humanity).

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abstract = "Quadrotor Unmanned Aerial Vehicles Slung Load (QUAVL) systems are affected by the load's unstable oscillation thereby degrading the whole system's performance during flight. As a result, the ease of navigating a QUAVL system in a cluttered environment may be hindered by the load swings which can potentially derail the system from its intended trajectory and cause damages to man and the environment. Furthermore, the accuracy of load placement may also become a bottleneck. Therefore, the adoption of a stabilising controller, an obstacle avoidance strategy and swing suppression is necessary. This work proposes a Nonlinear Backstepping Finite-time Sliding Mode Control (BFTSMC) of an under-actuated (QUAVL) with swing suppression. The controller design is based on Lyapunov stability stand point whereby the effect of load swing is mitigated with an anti-swing control through delayed feedback. Simulation results are used to validate the controller design.",

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Aliyu, A & Alhems, LM 2023, Robust Nonlinear Backstepping FTSMC of a Quadrotor UAV-Suspended Load System with Obstacle Avoidance and Swing Attenuation. in ICECS 2023 - 2023 30th IEEE International Conference on Electronics, Circuits and Systems: Technosapiens for Saving Humanity. ICECS 2023 - 2023 30th IEEE International Conference on Electronics, Circuits and Systems: Technosapiens for Saving Humanity, Institute of Electrical and Electronics Engineers Inc., 30th IEEE International Conference on Electronics, Circuits and Systems, ICECS 2023, Istanbul, Turkey, 4/12/23. https://doi.org/10.1109/ICECS58634.2023.10382895

Robust Nonlinear Backstepping FTSMC of a Quadrotor UAV-Suspended Load System with Obstacle Avoidance and Swing Attenuation. / Aliyu, Abdulrahman; Alhems, Luai M.
ICECS 2023 - 2023 30th IEEE International Conference on Electronics, Circuits and Systems: Technosapiens for Saving Humanity. Institute of Electrical and Electronics Engineers Inc., 2023. (ICECS 2023 - 2023 30th IEEE International Conference on Electronics, Circuits and Systems: Technosapiens for Saving Humanity).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Alhems, Luai M.

PY - 2023

Y1 - 2023

N2 - Quadrotor Unmanned Aerial Vehicles Slung Load (QUAVL) systems are affected by the load's unstable oscillation thereby degrading the whole system's performance during flight. As a result, the ease of navigating a QUAVL system in a cluttered environment may be hindered by the load swings which can potentially derail the system from its intended trajectory and cause damages to man and the environment. Furthermore, the accuracy of load placement may also become a bottleneck. Therefore, the adoption of a stabilising controller, an obstacle avoidance strategy and swing suppression is necessary. This work proposes a Nonlinear Backstepping Finite-time Sliding Mode Control (BFTSMC) of an under-actuated (QUAVL) with swing suppression. The controller design is based on Lyapunov stability stand point whereby the effect of load swing is mitigated with an anti-swing control through delayed feedback. Simulation results are used to validate the controller design.

AB - Quadrotor Unmanned Aerial Vehicles Slung Load (QUAVL) systems are affected by the load's unstable oscillation thereby degrading the whole system's performance during flight. As a result, the ease of navigating a QUAVL system in a cluttered environment may be hindered by the load swings which can potentially derail the system from its intended trajectory and cause damages to man and the environment. Furthermore, the accuracy of load placement may also become a bottleneck. Therefore, the adoption of a stabilising controller, an obstacle avoidance strategy and swing suppression is necessary. This work proposes a Nonlinear Backstepping Finite-time Sliding Mode Control (BFTSMC) of an under-actuated (QUAVL) with swing suppression. The controller design is based on Lyapunov stability stand point whereby the effect of load swing is mitigated with an anti-swing control through delayed feedback. Simulation results are used to validate the controller design.

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ER -

Aliyu A, Alhems LM. Robust Nonlinear Backstepping FTSMC of a Quadrotor UAV-Suspended Load System with Obstacle Avoidance and Swing Attenuation. In ICECS 2023 - 2023 30th IEEE International Conference on Electronics, Circuits and Systems: Technosapiens for Saving Humanity. Institute of Electrical and Electronics Engineers Inc. 2023. (ICECS 2023 - 2023 30th IEEE International Conference on Electronics, Circuits and Systems: Technosapiens for Saving Humanity). doi: 10.1109/ICECS58634.2023.10382895

Robust Nonlinear Backstepping FTSMC of a Quadrotor UAV-Suspended Load System with Obstacle Avoidance and Swing Attenuation

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

UN SDGs

Access to Document

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Cite this