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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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


    Contributors:
    Wang, Yanhu (author) / Yu, Gan (author) / Xie, Wei (author) / Zhang, Weidong (author) / Silvestre, Carlos (author)


    Publication date :

    2024-09-01


    Size :

    3266122 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





    Review of Aerial Transportation of Suspended-Cable Payloads with Quadrotors

    Julian Estevez / Gorka Garate / Jose Manuel Lopez-Guede et al. | DOAJ | 2024

    Free access


    Cooperative Transportation of a Flexible Payload Using Two Quadrotors

    Chen, Ti / Shan, Jinjun / Liu, Hugh H. T. | AIAA | 2021