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.
Cooperative Control for Rod-Shaped Payload Transportation with Two Quadrotors
Lect.Notes Mechanical Engineering
International Conference on Mechanical System Dynamics ; 2023 ; Beijing, China September 01, 2023 - September 05, 2023
Proceedings of the 2nd International Conference on Mechanical System Dynamics ; Chapter : 24 ; 387-396
2024-06-18
10 pages
Article/Chapter (Book)
Electronic Resource
English