Cooperative Control for Multirotors Transporting an Unknown Suspended Load Under Environmental Disturbances

In this paper, we develop a cooperative control algorithm for a group of multirotor unmanned aerial vehicles (UAVs) transporting a suspended payload of unknown mass. In addition, the vehicles are subjected to unknown environmental disturbances in the form of wind. The control structure is analyzed u...

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Veröffentlicht in:	IEEE transactions on control systems technology 2020-03, Vol.28 (2), p.653-660
Hauptverfasser:	Klausen, Kristian, Meissen, Chris, Fossen, Thor I., Arcak, Murat, Johansen, Tor Arne
Format:	Artikel
Sprache:	eng
Schlagworte:	Acceleration Algorithms Computer simulation Control algorithms Control theory Cooperative control Disturbances Force Load modeling Mathematical model passivity-based control Payloads Transportation Unmanned aerial vehicles unmanned aerial vehicles (UAVs) Wires
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Beschreibung
Zusammenfassung:	In this paper, we develop a cooperative control algorithm for a group of multirotor unmanned aerial vehicles (UAVs) transporting a suspended payload of unknown mass. In addition, the vehicles are subjected to unknown environmental disturbances in the form of wind. The control structure is analyzed using Lyapunov theory, and both numerical simulations and results from experimental field trials on an outdoor multirotor platform further validate the proposed control algorithm.
ISSN:	1063-6536 1558-0865
DOI:	10.1109/TCST.2018.2876518