https://orcid.org/0000-0003-2490-0989
https://orcid.org/0000-0003-4984-6659
https://orcid.org/0000-0002-4700-1276
https://orcid.org/0000-0002-5096-5527
https://orcid.org/0000-0003-2490-0989
https://orcid.org/0000-0003-4984-6659
https://orcid.org/0000-0002-4700-1276
https://orcid.org/0000-0002-5096-5527
This paper investigates the tracking control of a multi-quadrotor slung-load system (MQSLS), incorporating a dynamic model that simultaneously accounts for underactuation, nonlinearity, dynamic coupling, and unmodeled dynamics. We introduce a novel force distribution algorithm, which bifurcates the cooperative control to two distinct components: slung-load position control; and cable configuration control along with quadrotor attitude control. Employing this strategy results in a cooperative controller that: (i) relaxes the constraints on cable configuration; and (ii) requires only up to the third time derivative of the reference trajectory. The proposed control scheme ensures almost asymptotic stability of the overall closed-loop error system under unknown constant disturbances affecting both quadrotors and payload. A comprehensive set of simulations and experimental results validates the effectiveness of the proposed control strategy.
Robust Cooperative Transportation of a Cable-Suspended Payload by Multiple Quadrotors Featuring Cable-Reconfiguration Capabilities
IEEE Transactions on Intelligent Transportation Systems ; 25 , 9 ; 11833-11843
2024-09-01
3266122 byte
Article (Journal)
Electronic Resource
English
Review of Aerial Transportation of Suspended-Cable Payloads with Quadrotors
| DOAJ | 2024