کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
13446737 | 1843783 | 2019 | 6 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Multi-vehicle Cooperative Control for Load Transportation *
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Multi-vehicle Cooperative Control for Load Transportation * Multi-vehicle Cooperative Control for Load Transportation *](/preview/png/13446737.png)
چکیده انگلیسی
This work proposes a cooperative control solution to the problem of transporting a suspended load using multiple quadrotor vehicles. The problem is addressed for two quadrotors, with a methodology that can be generalized for any number of quadrotors. A dynamic model of the system is developed considering a point-mass load, rigid massless cables, and neglecting aerodynamic effects of the cables. The concept of differential flatness is explored and a new set of flat outputs, which can be used to fully characterize the state of the system, is proposed. A nonlinear Lyapunov-based controller in cascaded form is derived, by defining adequate mappings between the cable tension vectors and the quadrotor thrust vectors and exploring the analogy with the problem of controlling a single quadrotor. Simulation results are presented for tracking of load trajectories. Comparisons are made with a free-flying quadrotor control scheme to highlight the enhanced performance of the proposed scheme.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC-PapersOnLine - Volume 52, Issue 12, 2019, Pages 358-363
Journal: IFAC-PapersOnLine - Volume 52, Issue 12, 2019, Pages 358-363
نویسندگان
Tiago Valentim, Rita Cunha, Paulo Oliveira, David Cabecinhas, Carlos Silvestre,