Global Sensitive-Based Input Shaping for UAV-Payload Precision Motion Control
arXiv:2607.26717
The paper introduces a global sensitivity‑based input shaping method for UAV‑payload motion control that incorporates Shapley values to reduce sensitivity to uncertainties in payload mass and rope length, and validates the approach with simulation comparisons.
Abstract
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.