Work

Passivity-based Formation Control for UAVs with a Suspended Load

Year: 2017

Type: article

Abstract: This 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.

Source: IFAC-PapersOnLine

DOI: 10.1016/j.ifacol.2017.08.2169

Authors: Chris Meissen, Kristian Klausen, Murat Arcak, Thor I. Fossen, Andrew Packard

Institutions: University of California, Berkeley, Norwegian University of Science and Technology

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: diamond

OpenAlex ID: W2765382513

FWCI: 2.733

Cites: 12

Cited by: 44

Related to: 10