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Multi-vehicle cooperative control for load transportation
Tiago Valentim1; Rita Cunha1; Paulo Oliveira2; David Cabecinhas1,3; Carlos Silvestre1,3
Conference Name21st International-Federation-of-Automatic-Control (IFAC) Symposium on Automatic Control in Aerospace (ACA)
Source PublicationIFAC-PapersOnLine
Conference DateAUG 27-30, 2019
Conference PlaceCranfield, ENGLAND

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.

KeywordAutonomous Vehicles Cascaded Systems Differential Flatness Nonlinear Control Slung-load Transportation
URLView the original
Indexed ByCPCI-S
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:000498881800060
Scopus ID2-s2.0-85077383782
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Cited Times [WOS]:0   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionUniversity of Macau
Affiliation1.Department of Electrical and Computer Engineering, Instituto Superior Técnico, Universidade de Lisboa, Portugal
2.Department of Mechanical Engineering,Instituto Superior Técnico,Universidade de Lisboa,Portugal
3.Faculty of Science and Technology,University of Macau,Macau,China
Recommended Citation
GB/T 7714
Tiago Valentim,Rita Cunha,Paulo Oliveira,et al. Multi-vehicle cooperative control for load transportation[C],2019:358-363.
APA Tiago Valentim,Rita Cunha,Paulo Oliveira,David Cabecinhas,&Carlos Silvestre.(2019).Multi-vehicle cooperative control for load transportation.IFAC-PapersOnLine,52(12),358-363.
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