This paper investigates the tracking control of a multi-quadrotor slung-load system (MQSLS), incorporating a dynamic model that simultaneously accounts for underactuation, nonlinearity, dynamic coupling, and unmodeled dynamics. We introduce a novel force distribution algorithm, which bifurcates the cooperative control to two distinct components: slung-load position control; and cable configuration control along with quadrotor attitude control. Employing this strategy results in a cooperative controller that: (i) relaxes the constraints on cable configuration; and (ii) requires only up to the third time derivative of the reference trajectory. The proposed control scheme ensures almost asymptotic stability of the overall closed-loop error system under unknown constant disturbances affecting both quadrotors and payload. A comprehensive set of simulations and experimental results validates the effectiveness of the proposed control strategy.


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    Titel :

    Robust Cooperative Transportation of a Cable-Suspended Payload by Multiple Quadrotors Featuring Cable-Reconfiguration Capabilities


    Beteiligte:
    Wang, Yanhu (Autor:in) / Yu, Gan (Autor:in) / Xie, Wei (Autor:in) / Zhang, Weidong (Autor:in) / Silvestre, Carlos (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.09.2024


    Format / Umfang :

    3266122 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





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