Work

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

Year: 2018

Type: article

Abstract: 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.

Source: IEEE Transactions on Control Systems Technology

DOI: 10.1109/tcst.2018.2876518

Authors: Kristian Klausen, Chris Meissen, Thor I. Fossen, Murat Arcak, Tor Arne Johansen

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

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: green

Funders: Norges Forskningsråd, Division of Electrical, Communications and Cyber Systems

Awards: G1530538271, G7688019581