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Control of a Distributed Multi-agent System of Quadrotors for Transportation of a Shared Load

Soltani, Ali | 2017

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  1. Type of Document: Ph.D. Dissertation
  2. Language: Farsi
  3. Document No: 50220 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Sayyadi, Hassan
  7. Abstract:
  8. Nowadays, multi-agent robotic systems are implemented to perform various operations such as military mission, search and rescue operations, etc. One of the most interested robotic platforms for multi-agent systems is quadrotor aerial robot. In this paper, a team of quadrotors is prepared to perform a formation flight toward a specified target in order to catch and transport it on a desired path. Therefore, at first, trajectory tracking control of the quadrotor has been studied and two types of controllers have been introduced: Hierarchical controller and Non-hierarchical controller. Coordinate free structure of the hierarchical controller provides distinctive properties and guarantees stability of the closed-loop system of tracking errors. On the other hand, the non-hierarchical controller has been designed by extending equations of quadrotor's translational motion, combining them with its rotational dynamics and feedback linearization. This controller can guarantee stability of the closed-loop system of tracking errors via determining its poles. In the following, a decentralized formation control law has been proposed which is robust against switching of communication topology. Furthermore, robustness of the formation against data packets dropping out and low update frequency of the network is guaranteed via augmenting the formation control law by a model predictive trajectory generation method. Next, trajectory tracking control of a gripped load by a group of quadrotors has been addressed. To control a gripped load with uncertain mass and moment of inertia, a semi-decentralized adaptive trajectory tracking controller has been proposed which stabilizes the load on desired trajectories. Finally, control problem of a slung fluid container from quadrotors has been investigated. Therefore, a proper model has been proposed for fluid sloshing modes. Then, a control law has been designed such that the quadrotors can stabilize the container pose and suppress fluid sloshing simultaneously. Performances of all of the proposed control laws have been verified by simulations accordingly
  9. Keywords:
  10. Quadrotor Robot Control ; Multiagent System ; Liquid Sloshing ; Trajectory Tracking Control ; Dicentrilized Formation Control ; Decentralized Adaptive Load Control ; Fluid Sloshing Control

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