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Cooperative control of a gripped load by a team of quadrotors
, Article Scientia Iranica ; Volume 26, Issue 5 B , 2019 , Pages 2760-2769 ; 10263098 (ISSN) ; Soltani, A ; Sharif University of Technology
Sharif University of Technology
2019
Abstract
In this paper, an output tracking controller is proposed for cooperative transport of a gripped load by a team of quadrotors. The proposed control law requires the measurement of only four state variables: position and yaw angle of the system. Moreover, the controller provides rejection of step and ramp external force disturbances. In addition, the control basis vectors derived via optimization facilitate the real-time determination of quadrotors' control inputs. Numerical simulations show the effectiveness of the proposed control scheme and its superiority over formerly designed controllers for such systems. © 2019 Sharif University of Technology. All rights reserved
Cooperative control of a gripped load by a team of quadrotors
, Article Scientia Iranica ; Volume 26, Issue 5 B , 2019 , Pages 2760-2769 ; 10263098 (ISSN) ; Soltani, A ; Sharif University of Technology
Sharif University of Technology
2019
Abstract
In this paper, an output tracking controller is proposed for cooperative transport of a gripped load by a team of quadrotors. The proposed control law requires the measurement of only four state variables: position and yaw angle of the system. Moreover, the controller provides rejection of step and ramp external force disturbances. In addition, the control basis vectors derived via optimization facilitate the real-time determination of quadrotors' control inputs. Numerical simulations show the effectiveness of the proposed control scheme and its superiority over formerly designed controllers for such systems. © 2019 Sharif University of Technology. All rights reserved