Journal article
Passivity-Based Control of Multiple Quadrotors Carrying a Cable-Suspended Payload
Abstract
In this article, a new passivity-based controller is proposed for stable cotransportation of a cable-suspended payload by a number of quadrotors. Nominal proportionalderivative position controllers with desired acceleration feedforward are augmented with time-varying dissipative terms to account for the drones underactuation. A storage function is defined that includes terms inspired by the kinetic and potential energies of the system …
Authors
Mohammadi K; Sirouspour S; Grivani A
Journal
IEEE/ASME Transactions on Mechatronics, Vol. 27, No. 4, pp. 2390–2400
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
DOI
10.1109/tmech.2021.3102522
ISSN
1083-4435