This paper considers the cooperative transport problem of two quadrotors, which is an ideal method for rod-shaped payload transportation in complex and hazardous environments. A Lagrangian system with nine degrees of freedom is built to describe the cooperative transportation system, where the cables are supposed to be massless and kept taut all the time. A nonlinear controller is proposed based on the nonlinear model predictive control (NMPC) to eliminate payload swing, where the payload angle information is considered as optional parameters. A cost function is formulated to transform the quadrotors’ positioning and payload swing elimination problems into an optimization problem. Finally, numerical simulations are carried out to validate the proposed control method.


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    Title :

    Cooperative Control for Rod-Shaped Payload Transportation with Two Quadrotors


    Additional title:

    Lect.Notes Mechanical Engineering


    Contributors:
    Rui, Xiaoting (editor) / Liu, Caishan (editor) / Wang, Yankai (author) / Chen, Ti (author)

    Conference:

    International Conference on Mechanical System Dynamics ; 2023 ; Beijing, China September 01, 2023 - September 05, 2023



    Publication date :

    2024-06-18


    Size :

    10 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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