Cooperative Path-Following for Multirotor UAVs with a Suspended Payload

• Type: Article in International Conference Proceedings Book
• Date: 2015

Authors

Klausen, K (Author) Other; Fossen, TI (Author) Other; Johansen, TA (Author) Other; Aguiar, AP (Author) FEUP

Conference proceedings International

Title: 2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings

Pages: 1354-1360

IEEE Conference on Control and Applications, CCA 2015

21 September 2015 through 23 September 2015

Indexing

ISI Web of Knowledge - 14 Citations

Scopus - 16 Citations

Other information

Authenticus ID: P-00K-5PE

DOI: 10.1109/cca.2015.7320800

Abstract (EN): In this paper, we present a cooperative control strategy for a team of multirotor type UAVs to lift a suspended payload. The interconnected system is modeled by the Udwadia-Kalaba equations of constrained motion. A robust path-following controller is developed for each vehicle in the system, and coordination is achieved through synchronization of the path parameterization. Stability of the interconnected system consisting of a network of local path-following controllers is analyzed. Results are verified by numerical simulations.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 7