Cooperative control of a gripped load by a team of quadrotors

被引：1
|
作者：
Sayyaadi, H. [1 ]
Soltani, A. [1 ]
机构：
[1] Sharif Univ Technol, Sch Mech Engn, Azadi Ave,POB 11155-9567, Tehran, Iran
来源：
SCIENTIA IRANICA | 2019年 / 26卷 / 05期
关键词：
Output tracking control; Cooperative transport; Gripped load; Quadrotors; Disturbance rejection; GEOMETRIC CONTROL;
D O I：
10.24200/sci.2018.20642
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
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. (C) 2019 Sharif University of Technology. All rights reserved.
引用
收藏
页码：2760 / 2769
页数：10
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