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.
Cable-Suspended Cooperative Transportation Control with Multi-unmanned Helicopters
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Chapter : 44 ; 437-447
2022-03-18
11 pages
Article/Chapter (Book)
Electronic Resource
English
Cable-Suspended Cooperative Transportation Control with Multi-unmanned Helicopters
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