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Cooperative Path Following Control of a Team of Quadrotor-Slung-Load Systems Under Disturbances
Wang,Yanhu1; Yu,Gan2; Xie,Wei1; Zhang,Weidong1; Silvestre,Carlos2
2023-09
Source PublicationIEEE Transactions on Intelligent Vehicles
ISSN2379-8858
Volume8Issue:9Pages:1-11
Abstract

In this paper, we address the challenging problem of path-following control for a group of $n$ Quadrotor-Slung-Load Systems (QSLSs) subject to time-varying disturbances. A single QSLS consists of a quadrotor vehicle and a load attached to the vehicle's center of mass via a cable. We propose a distributed path coordination framework that generates $n$ desired paths for the $n$ loads while maintaining a fixed inter-load formation pattern. Furthermore, we introduce a robust controller for each of the $n$ quadrotors to drive the respective load along the assigned path. The path-following controller is designed to ensure that the quadrotor thrust remains bounded with respect to position and velocity tracking errors. We present a series of simulation and experimental results to validate the effectiveness of the proposed approach and demonstrate its performance.

KeywordLoad Transportation Path Following Quadrotor Robust Control
DOI10.1109/TIV.2023.3274671
URLView the original
Indexed BySCIE
Language英語English
PublisherInstitute of Electrical and Electronics Engineers Inc.
Scopus ID2-s2.0-85159830750
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Document TypeJournal article
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Department of Automation, Shanghai Jiao Tong University, Shanghai, China
2.Department of Electrical and Computer Engineering, Faculty of Science and Technology, University of Macau, Macau, China
Recommended Citation
GB/T 7714
Wang,Yanhu,Yu,Gan,Xie,Wei,et al. Cooperative Path Following Control of a Team of Quadrotor-Slung-Load Systems Under Disturbances[J]. IEEE Transactions on Intelligent Vehicles, 2023, 8(9), 1-11.
APA Wang,Yanhu., Yu,Gan., Xie,Wei., Zhang,Weidong., & Silvestre,Carlos (2023). Cooperative Path Following Control of a Team of Quadrotor-Slung-Load Systems Under Disturbances. IEEE Transactions on Intelligent Vehicles, 8(9), 1-11.
MLA Wang,Yanhu,et al."Cooperative Path Following Control of a Team of Quadrotor-Slung-Load Systems Under Disturbances".IEEE Transactions on Intelligent Vehicles 8.9(2023):1-11.
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