Multi-objective control for cooperative payload transport with rotorcraft UAVs

Javier Gimenez; Daniel C. Gandolfo; Lucio R. Salinas; Claudio Rosales; Ricardo Carelli

doi:10.1016/j.isatra.2018.05.022

Multi-objective control for cooperative payload transport with rotorcraft UAVs

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

^*Corresponding author for this work

Department of Engineering Mathematics

Research output: Contribution to journal › Article (Academic Journal) › peer-review

52 Citations (Scopus)

Abstract

A novel kinematic formation controller based on null-space theory is proposed to transport a cable-suspended payload with two rotorcraft UAVs considering collision avoidance, wind perturbations, and properly distribution of the load weight. An accurate 6-DoF nonlinear dynamic model of a helicopter and models for flexible cables and payload are included to test the proposal in a realistic scenario. System stability is demonstrated using Lyapunov theory and several simulation results show the good performance of the approach.

Original language	English
Pages (from-to)	491-502
Number of pages	12
Journal	ISA Transactions
Volume	80
DOIs	https://doi.org/10.1016/j.isatra.2018.05.022
Publication status	Published - 1 Sept 2018

Bibliographical note

Publisher Copyright:
© 2018 ISA

Keywords

Cooperative transport
Lyapunov theory
Multi-objective control
Null-space
Rotorcraft UAV

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title = "Multi-objective control for cooperative payload transport with rotorcraft UAVs",

abstract = "A novel kinematic formation controller based on null-space theory is proposed to transport a cable-suspended payload with two rotorcraft UAVs considering collision avoidance, wind perturbations, and properly distribution of the load weight. An accurate 6-DoF nonlinear dynamic model of a helicopter and models for flexible cables and payload are included to test the proposal in a realistic scenario. System stability is demonstrated using Lyapunov theory and several simulation results show the good performance of the approach.",

keywords = "Cooperative transport, Lyapunov theory, Multi-objective control, Null-space, Rotorcraft UAV",

author = "Javier Gimenez and Gandolfo, {Daniel C.} and Salinas, {Lucio R.} and Claudio Rosales and Ricardo Carelli",

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year = "2018",

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doi = "10.1016/j.isatra.2018.05.022",

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T1 - Multi-objective control for cooperative payload transport with rotorcraft UAVs

AU - Gimenez, Javier

AU - Gandolfo, Daniel C.

AU - Salinas, Lucio R.

AU - Rosales, Claudio

AU - Carelli, Ricardo

PY - 2018/9/1

Y1 - 2018/9/1

N2 - A novel kinematic formation controller based on null-space theory is proposed to transport a cable-suspended payload with two rotorcraft UAVs considering collision avoidance, wind perturbations, and properly distribution of the load weight. An accurate 6-DoF nonlinear dynamic model of a helicopter and models for flexible cables and payload are included to test the proposal in a realistic scenario. System stability is demonstrated using Lyapunov theory and several simulation results show the good performance of the approach.

AB - A novel kinematic formation controller based on null-space theory is proposed to transport a cable-suspended payload with two rotorcraft UAVs considering collision avoidance, wind perturbations, and properly distribution of the load weight. An accurate 6-DoF nonlinear dynamic model of a helicopter and models for flexible cables and payload are included to test the proposal in a realistic scenario. System stability is demonstrated using Lyapunov theory and several simulation results show the good performance of the approach.

KW - Cooperative transport

KW - Lyapunov theory

KW - Multi-objective control

KW - Null-space

KW - Rotorcraft UAV

UR - http://www.scopus.com/inward/record.url?scp=85047804689&partnerID=8YFLogxK

U2 - 10.1016/j.isatra.2018.05.022

DO - 10.1016/j.isatra.2018.05.022

M3 - Article (Academic Journal)

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AN - SCOPUS:85047804689

SN - 0019-0578

VL - 80

SP - 491

EP - 502

JO - ISA Transactions

JF - ISA Transactions

ER -

Multi-objective control for cooperative payload transport with rotorcraft UAVs

Abstract

Bibliographical note

Keywords

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