Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
13446737 | IFAC-PapersOnLine | 2019 | 6 Pages |
Abstract
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.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Tiago Valentim, Rita Cunha, Paulo Oliveira, David Cabecinhas, Carlos Silvestre,