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Control Framework for Slung Load Transportation with Two Aerial Vehicles
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 2017, Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 4254-4259Conference paper, Published paper (Refereed)
Abstract [en]

We model a point mass load tethered to two aerial vehicles, and propose a control strategy that guarantees that the load tracks a desired position trajectory. Our framework consists in designing an input and a state transformation which converts the quadrotors-load system into three decoupled subsystems: one concerning the position of the load, with dynamics similar to those of an under-actuated aerial vehicle; one concerning the angle between the cables, with double integrator dynamics; and another concerning the yaw motion of the plane formed by the cables, also with double integrator dynamics. Once the decoupling is done, controllers from the literature can be leveraged, which we take advantage of when controlling the subsystem with dynamics similar to those of an under-actuated aerial vehicle. Simulations are presented which validate the proposed algorithm.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2017. p. 4254-4259
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-223864DOI: 10.1109/CDC.2017.8264286ISI: 000424696904018Scopus ID: 2-s2.0-85046248984ISBN: 978-1-5090-2873-3 OAI: oai:DiVA.org:kth-223864DiVA, id: diva2:1187874
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, No.644128
Note

QC 20180306

Available from: 2018-03-06 Created: 2018-03-06 Last updated: 2018-06-01Bibliographically approved

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Ótão Pereira, Pedro MiguelDimarogonas, Dimos V.

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CiteExportLink to record
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  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
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Output format
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