Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor
This addresses oscillation control for aerial manipulators in robotics, but it is incremental as it builds on existing models with a specific sensor limitation.
The paper tackled the problem of oscillation damping in a cable-suspended aerial manipulator using only a single IMU sensor, achieving rapid damping with minimal energy consumption through a simple, robust controller validated in simulations and experiments.
This paper presents a design of oscillation damping control for the cable-Suspended Aerial Manipulator (SAM). The SAM is modeled as a double pendulum, and it can generate a body wrench as a control action. The main challenge is the fact that there is only one onboard IMU sensor which does not provide full information on the system state. To overcome this difficulty, we design a controller motivated by a simplified SAM model. The proposed controller is very simple yet robust to model uncertainties. Moreover, we propose a gain tuning rule by formulating the proposed controller in the form of output feedback linear quadratic regulation problem. Consequently, it is possible to quickly dampen oscillations with minimal energy consumption. The proposed approach is validated through simulations and experiments.