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Collaborative Transportation of a Bar by Two Aerial Vehicles with Attitude Inner Loop and Experimental Validation
KTH, School of Electrical Engineering (EES).ORCID iD: 0000-0001-5840-3767
KTH, School of Electrical Engineering (EES).ORCID iD: 0000-0001-7309-8086
2017 (English)In: 2017 IEEE 56TH ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), IEEE , 2017Conference paper, Published paper (Refereed)
Abstract [en]

We propose a control law for stabilization of a bar tethered to two aerial vehicles, and provide conditions on the control law's gains that guarantee exponential stability of the equilibrium. Given the proposed control law, we analyze the stability of the equilibrium for two cases, specifically, for a bar of known and unknown mass. We provide lower bounds on the attitude gains of the UAVs' attitude inner loop that guarantee exponential stability of the equilibrium. We also include an integral action term in the control law, so as to compensate for battery drainage and model mismatches, and we provide a lower bound on the integral gain that guarantees stability of the equilibrium. We present an experiment that demonstrates the stabilization and that validates the robustness of the proposed control law.

Place, publisher, year, edition, pages
IEEE , 2017.
Series
IEEE Conference on Decision and Control, ISSN 0743-1546
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-223863ISI: 000424696901129ISBN: 978-1-5090-2873-3 OAI: oai:DiVA.org:kth-223863DiVA, id: diva2:1187873
Conference
IEEE 56th Annual Conference on Decision and Control (CDC), DEC 12-15, 2017, Melbourne, AUSTRALIA
Funder
Swedish Research CouncilSwedish Foundation for Strategic Research EU, Horizon 2020
Note

QC 20180306

Available from: 2018-03-06 Created: 2018-03-06 Last updated: 2018-03-06Bibliographically approved

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Ótão Pereira, Pedro MiguelDimarogonas, Dimos V.

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