Abstract
This paper presents a control framework for the retrieval operation of an inspection crawler from a pipeline, using an UAV (Unmanned Aerial Vehicle) with a cable. The inspection crawler inspects the pipeline until it is retrieved using the UAV with a cable. In order to create this control framework, the task has been divided in two different phases: the tethered UAV phase and the flight of the UAV with a suspended load. For each phase, we study the dynamic and we propose a specific controller. The control framework is composed of a controller obtained using the feedback linearization technique for the tethered phase, while the controller of the second phase is based on an IDA-PBC (Interconnection and Damping Assignment-Passivity Based Control) controller. The proposed control framework is validated through simulations in Matlab-Simulink, showing that the UAV can properly recover the inspection crawler from the pipeline and stabilizes with the crawler as a suspended load at a new position.
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Acknowledgment
This work has been supported by the MARTIN project, grant PID2022-143267OB-I00, funded by MCIN/AEI/ 10.13039/501100011033 and by ERDF A way of making Europe, and by the AEROTRAIN Marie Sklodowska-Curie (MSCA-ITN-2020-953454) and SIMAR (HE-CL4-2021-101070604) projects, funded by the European Union. We thank Jorge Barbero Benítez for his collaboration during this work.
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González-Morgado, A., Ollero, A., Heredia, G. (2024). Control Framework for Take-Off of UAVs with Suspended Load in Pipeline Inspection. In: Marques, L., Santos, C., Lima, J.L., Tardioli, D., Ferre, M. (eds) Robot 2023: Sixth Iberian Robotics Conference. ROBOT 2023. Lecture Notes in Networks and Systems, vol 978. Springer, Cham. https://doi.org/10.1007/978-3-031-59167-9_1
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