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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    Titel :

    Cooperative Control for Rod-Shaped Payload Transportation with Two Quadrotors


    Weitere Titelangaben:

    Lect.Notes Mechanical Engineering


    Beteiligte:
    Rui, Xiaoting (Herausgeber:in) / Liu, Caishan (Herausgeber:in) / Wang, Yankai (Autor:in) / Chen, Ti (Autor:in)

    Kongress:

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



    Erscheinungsdatum :

    18.06.2024


    Format / Umfang :

    10 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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