This paper investigates the problem of cooperative payload delivery by two quadrotors with a novel “Y”-shaped cable that improves payload carrying and dropping efficiency. Compared with the existing “V”-shaped suspension, the proposed suspension method adds another payload swing degree of freedom to the quadrotor–payload system, making the modeling and control of such a system more challenging. In the modeling, the payload swing motion is decomposed into a forward–backward process and a lateral process, and the swing motion is then transmitted to the dynamics of the two quadrotors by converting it into disturbance cable pulling forces. A novel guidance and control framework is proposed, where a guidance law is designed to not only achieve formation transformation but also generate a local reference for the quadrotor, which does not have access to the global reference, based on which a cooperative controller is developed by incorporating an uncertainty and disturbance estimator to actively compensate for payload swing disturbance to achieve the desired formation trajectory tracking performance. A singular perturbation theory-based analysis shows that the proposed parameter mapping method, which unifies the parameter tuning of different control channels, allows us to tune a single parameter, ε , to quantitatively enhance both the formation control performance and system robustness. Simulation results verify the effectiveness of the proposed approach in different scenarios.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Modeling, Guidance, and Robust Cooperative Control of Two Quadrotors Carrying a “Y”-Shaped-Cable-Suspended Payload


    Beteiligte:
    Erquan Wang (Autor:in) / Jinyang Sun (Autor:in) / Yuanyuan Liang (Autor:in) / Boyu Zhou (Autor:in) / Fangfei Jiang (Autor:in) / Yang Zhu (Autor:in)


    Erscheinungsdatum :

    2024




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt







    Rod-shaped payload transportation using multiple quadrotors

    Villa, Daniel Khede Dourado / Brandao, Alexandre Santos / Sarcinelli-Filho, Mario | IEEE | 2019


    Optimum Configuration for Hovering n-Quadrotors Carrying a Slung Payload

    Elshaar, Mohssen / Khodary, Pansie / Badr, Meral et al. | AIAA | 2025