Manipulation of Elasto-Flexible Cables with Single or Multiple UAVs
🤖 AI Summary
This work addresses the modeling, trajectory planning, and closed-loop control of elastic, extensible flexible cables manipulated cooperatively by multiple UAVs. To overcome the challenges posed by large cable deformations and strong UAV–cable dynamic coupling—poorly handled by conventional methods—the authors propose a discretized spring-mass dynamical model. They further introduce, for the first time, multiple sets of differential flat outputs for multi-UAV–flexible-cable systems, enabling analytical trajectory generation with guaranteed feasibility. A feedback-based closed-loop controller is then designed using cable geometric outputs. Simulation results validate the dynamic feasibility of the generated flat trajectories. Experimental validation with a two-UAV physical setup demonstrates high modeling accuracy, robust regulation of cable posture and deformation, and significant improvements in system robustness and task adaptability.
Application Category
📝 Abstract
This work considers a large class of systems composed of multiple quadrotors manipulating deformable and extensible cables. The cable is described via a discretized representation, which decomposes it into linear springs interconnected through lumped-mass passive spherical joints. Sets of flat outputs are found for the systems. Numerical simulations support the findings by showing cable manipulation relying on flatness-based trajectories. Eventually, we present an experimental validation of the effectiveness of the proposed discretized cable model for a two-robot example. Moreover, a closed-loop controller based on the identified model and using cable-output feedback is experimentally tested.
Problem
Research questions and friction points this paper is trying to address.
Modeling and controlling deformable cables with UAVs
Developing flatness-based trajectories for cable manipulation
Experimental validation of discretized cable model and controller
Innovation
Methods, ideas, or system contributions that make the work stand out.
Discretized cable model using linear springs and lumped-mass joints
Flatness-based trajectories for cable manipulation by UAVs
Closed-loop controller with cable-output feedback tested experimentally
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