Generation and Control of Impulsive Forces by a Planar Bi-Rotor Aerial Vehicle through a Cable Suspended Mass

摘要

Controlling interaction forces between multi-rotor aerial vehicles and their environment is getting considerable attention recently. Controlling such interaction forces is challenging because these aerial vehicles are typically underactuated and are unable to provide an arbitrary reaction to the environment in any given configuration. In some situations however, it could be sufficient to impart a controlled short duration impulse to the environment as opposed to a continuously applied force. Controlling such an impulse interaction is the subject of this paper. This paper presents dynamics and control of planar bi-rotor aerial vehicle with a cable suspended mass that is swung by the aerial vehicle in a controlled fashion and made to hit another stationary mass such that the stationary mass goes through a hoop. An optimization problem is formulated to plan trajectories for this task. It is shown that under certain conditions this optimization problem ends up having only linear constraints with a quadratic objective function. This task is demonstrated in simulations.