This paper presents a control system for coop-erative multi-quadrotors formation transportation. The forces and moments between the multi-quadrotors and the payload are analyzed using the Udwadia-Kalaba method, and a multi-quadrotors transportation system model is established. An improved coefficient is introduced to address the rope length drift problem during the takeoff process. Based on cozsensus theory, the payload is considered a virtual leader, and a cooperative formation control system for multi-quadrotors is constructed. Ul-timately, the cooperative formation system is controlled using the adaptive integral backstepping controller, alongside employing an adaptive law to estimate and counteract disturbances induced by the payload on the quadrotors. The control system is validated through simulation experiments to determine its effectiveness.
Adaptive Formation Control of Multi-Quadrotors Cooperative Transportation
18.07.2024
2600899 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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