This paper deals with the robust control of cable-suspended payload transportation by cooperative multi-unmanned helicopters (MUHs). By combining the finite-time nonlinear disturbance observer with the dynamic surface control (DSC) based backstepping, a decentralized control algorithm for the cooperative unmanned helicopters (UHs) is proposed. The dynamic models of the cooperative cable-suspended transportation system with four UHs are established. Taking the unmeasured cable force which has a significant impact on the system dynamics and stability as the disturbance, the finite-time nonlinear disturbance observer (FNDO) is used to estimate. With the feedforward compensation of FNDO, a control law of distributed robust trajectory depended on DSC is proposed for cooperative UHs. Finally, the closed-loop stability is analyzed, and the availability of the proposed algorithm under the predefined trajectory of payload is verified by numerical simulation.


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    Title :

    Cable-Suspended Cooperative Transportation Control with Multi-unmanned Helicopters


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Wu, Meiping (editor) / Niu, Yifeng (editor) / Gu, Mancang (editor) / Cheng, Jin (editor) / Su, Zikang (author) / Zhou, Wenzhe (author) / Liang, Xiao (author) / Wang, Honglun (author)

    Conference:

    International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021



    Publication date :

    2022-03-18


    Size :

    11 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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