Journal article
Control of Multiple Quad-Copters With a Cable-Suspended Payload Subject to Disturbances
Abstract
In this article, a new control scheme is proposed to enable multiple quad-copters to cooperatively carry a cable-suspended payload. This cascaded controller takes into account the quad-copters underactuation and exploits the energetic passivity of the payload-cables-drones multibody system to achieve stable control. The controller is simple and requires no information about the cables tensions. A storage function inspired by the mechanical …
Authors
Mohammadi K; Sirouspour S; Grivani A
Journal
IEEE/ASME Transactions on Mechatronics, Vol. 25, No. 4, pp. 1709–1718
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
DOI
10.1109/tmech.2020.2995138
ISSN
1083-4435