Global Sensitive-Based Input Shaping for UAV-Payload Precision Motion Control

This work presents a comprehensive analysis and design of global sensitivity-based input shapers for a 3D Unmanned Aerial Vehicle-payload system, emphasizing robustness against uncertainties in payload mass and rope length. The proposed approach also leverages the Shapley value concept in controller design to systematically account for uncertainties, thereby reducing the controller's sensitivity to unknown parameters. To validate the effectiveness of the methodology, numerical simulations are conducted, comparing the proposed controller against non-robust, robust, and minimax designs. The results demonstrate that the standard global sensitivity or Shapley-based input shapers improve performance and offer a promising framework for uncertainty-aware control in aerial payload transport.

Input Shaping for Point-to-Point Motion with a Continuum Robot Arm

A cable-driven continuum robot arm is an underactuated mechanism and may suffer residual vibration at the end of a rest-to-rest maneuver. In this work, a time-delay filter is applied as an input shaper to the system to eliminate the excitation of vibratory modes. A non-robust and a robust time-delay filter are designed based on a linear system model and demonstrate improved response compared to a velocity-driven pulse input. Experimental results using the continuum robot validate the application of the input shaper, with reduced overshoot and settling time exemplifying the reduction in oscillation at the end of the maneuver. It is also shown that utilizing the robust shaper further improves the response of the arm in comparison to applying the non-robust shaper. These results are significant towards the precise and robust implementation of continuum robots in applications involving arbitrary end-effector trajectories.