文章基本信息

标题：Passivity-based Formation Control for UAVs with a Suspended Load
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作者：Chris Meissen ; Kristian Klausen ; Murat Arcak 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：13150-13155
DOI：10.1016/j.ifacol.2017.08.2169
语种：English
出版社：Elsevier
摘要：AbstractThis paper presents a passivity based formation control strategy for multiple unmanned aerial vehicles (UAVs) cooperatively carrying a suspended load. The control strategy we propose consists of an internal feedback control law for each UAV and a formation control law that regulates the relative position between each UAV. We show that under this control strategy the interconnected system has a continuum of equilibria and prove stability for all equilibrium points where the cables supporting the suspended load are in tension.
关键词：KeywordsCoordination of multiple vehicle systemsPassivity-based controlControl of interconnected systemsUAVs