Control for cooperative transport of a bar-shaped payload with rotorcraft UAVs including a landing stage on mobile robots

Javier Gimenez*, Lucio R. Salinas, Daniel C. Gandolfo, Claudio D. Rosales, Ricardo Carelli

*Corresponding author for this work

Research output: Contribution to journalArticle (Academic Journal)peer-review

11 Citations (Scopus)

Abstract

This paper considers the cooperative transport problem of a cable-suspended rigid bar with two rotorcraft UAVs considering collision avoidance, weight distribution, and wind perturbations. The proposal is based on null-space theory and includes a landing stage where the load is settled down on a formation of ground robots. Therefore, a variable formation is considered according to the task phase. In order to simulate the proposal in a realistic environment, very complete dynamic models for UAVs, ground robots, and load are considered. An adaptation stage is incorporated to link the control actions with the inputs required by the dynamic models. Theoretical bounds for the errors are studied under the assumption that perfect velocity tracking is not fulfilled.

Original languageEnglish
Pages (from-to)3378-3392
Number of pages15
JournalInternational Journal of Systems Science
Volume51
Issue number16
DOIs
Publication statusPublished - 2 Sept 2020

Bibliographical note

Publisher Copyright:
© 2020 Informa UK Limited, trading as Taylor & Francis Group.

Keywords

  • Bar-shaped payload
  • cooperative transport
  • error bounds
  • multi-objective control
  • rotorcraft UAVs

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