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Cooperative control of a gripped load by a team of quadrotors

Sayyaadi, H ; Sharif University of Technology | 2019

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  1. Type of Document: Article
  2. DOI: 10.24200/sci.2018.20642
  3. Publisher: Sharif University of Technology , 2019
  4. Abstract:
  5. 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
  6. Keywords:
  7. Cooperative transport ; Disturbance rejection ; Gripped load ; Output tracking control ; Quadrotors ; Co-operative control ; Control schemes ; External force ; Output-tracking ; State variables ; Controllers ; Force ; Measurement method ; Numerical method ; Optimization ; Simulation ; Tracking
  8. Source: Scientia Iranica ; Volume 26, Issue 5 B , 2019 , Pages 2760-2769 ; 10263098 (ISSN)
  9. URL: http://scientiairanica.sharif.edu/article_20642.html