Conference
Decentralized Motion Control in a Cabled-based Multi-drone Load Transport System
Abstract
A provably stable decentralized control scheme is proposed to allow multiple conventional quadcopters carry a cable-suspended payload. The method exploits a fundamental energetic passivity property of the combined drones, cables, and payload system to stably move the payload from its origin to destination. This is achieved without making any assumption about the status of the cables tension during the flight, and any measurement from the …
Authors
Mohammadi K; Jafarinasab M; Sirouspour S; Dyer E
Pagination
pp. 4198-4203
Publication Date
October 2018
DOI
10.1109/IROS.2018.8593952
Conference proceedings
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)