In this work, we present a novel actuation strategy for a suspended aerial platform. By utilizing an underactuation approach, we demonstrate the successful oscillation damping of the proposed platform, modeled as a spherical double pendulum. A state estimator is designed in order to obtain the deflection angles of the platform, which uses only onboard IMU measurements. The state estimator is an extended Kalman filter (EKF) with intermittent measurements obtained at different frequencies. An optimal state feedback controller and a PD+ controller are designed in order to dampen the oscillations of the platform in the joint space and task space respectively. The proposed underactuated platform is found to be more energy-efficient than an omnidirectional platform and requires fewer actuators. The effectiveness of our proposed system is validated using both simulations and experimental studies.

翻译：本文提出了一种用于悬挂式空中平台的新型驱动策略。通过采用欠驱动方法，我们成功抑制了所提出平台（建模为球形双摆）的振荡。为获取平台的偏转角，设计了一种仅利用机载IMU测量值的状态估计器。该状态估计器采用扩展卡尔曼滤波（EKF），以不同频率获取间歇性测量值。分别设计了最优状态反馈控制器和PD+控制器，以在关节空间和任务空间中抑制平台振荡。实验发现，所提出的欠驱动平台比全向平台具有更高的能效性，且所需执行器数量更少。通过仿真与实验研究验证了所提系统的有效性。