文章基本信息

标题：Multi-vehicle Cooperative Control for Load Transportation *
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作者：Tiago Valentim ; Rita Cunha ; Paulo Oliveira 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：12
页码：358-363
DOI：10.1016/j.ifacol.2019.11.269
语种：English
出版社：Elsevier
摘要：AbstractThis 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.
关键词：Keywordsnonlinear controldifferential flatnesscascaded systemsautonomous vehiclesslung-load transportation