Anti-swing Control of Quadrotors during Human Interaction: An Adaptive Approach

Abstract

In the field of aerial transport, specifically in operations involving quadrotors carrying suspended payloads, two critical stages are the attachment and detachment of the payload. These procedures are challenging due to various uncertainties inherent in the quadrotor, environmental variables, and payload swings caused by human or external interactions. These uncertainties can escalate quickly, posing significant risks to the quadrotor and payload and, crucially, to the human operator involved in the attachment/detachment process. Current advanced controllers in this field often need to adequately address these uncertainties, typically treating them as bounded, predictable variables. However, this approach must be revised to manage the unpredictable nature of payload swings during these critical stages. To overcome this limitation, our research introduces an innovative adaptive anti-swing controller. This controller uniquely considers uncertainties state-dependently, specifically tailored to address swing induced by the unpredictable aspects of attaching and detaching suspended payloads. In this work, we have conducted a thorough analytical evaluation of the closed-loop stability of this new system. Additionally, real-time experimental trials have been carried out. The results from these experiments demonstrate a marked performance improvement compared to existing state-of-the-art systems. This novel approach shows promise in enhancing safety and control effectiveness in aerial payload transportation, especially during the vital phases of payload and unclasping.