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Asymmetric Collaborative Bar Stabilization Tethered to Two Heterogeneous Aerial Vehicles
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.ORCID iD: 0000-0001-5840-3767
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.ORCID iD: 0000-0001-7309-8086
2018 (English)In: 2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE Computer Society, 2018, p. 5247-5253Conference paper, Published paper (Refereed)
Abstract [en]

We consider a system composed of a bar tethered to two unmanned aerial vehicles (UAVs), where the cables behave as rigid links under tensile forces, and with the control objective of stabilizing the bar's pose around a desired pose. Each UAV is equipped with a PID control law, and we verify that the bar's motion is decomposable into three decoupled motions, namely a longitudinal, a lateral and a vertical. We then provide relations between the UAVs' gains, which, if satisfied, allows us to decompose each of those motions into two cascaded motions; the latter relations between the UAVs' gains are found so as to counteract the system asymmetries, such as the different cable lengths and the different UAVs' weights. Finally, we provide conditions, based on the system's physical parameters, that describe good and bad types of asymmetries. We present experiments that demonstrate the stabilization of the bar's pose.

Place, publisher, year, edition, pages
IEEE Computer Society, 2018. p. 5247-5253
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-237165DOI: 10.1109/ICRA.2018.8460529ISI: 000446394504003Scopus ID: 2-s2.0-85063150499ISBN: 978-1-5386-3081-5 (print)OAI: oai:DiVA.org:kth-237165DiVA, id: diva2:1258297
Conference
IEEE International Conference on Robotics and Automation (ICRA), MAY 21-25, 2018, Brisbane, AUSTRALIA
Funder
Swedish Research CouncilKnut and Alice Wallenberg FoundationSwedish Foundation for Strategic Research
Note

QC 20181024

Available from: 2018-10-24 Created: 2018-10-24 Last updated: 2020-03-05Bibliographically approved

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Ótão Pereira, Pedro MiguelRoque, PedroDimarogonas, Dimos V.

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