Residential College | false |
Status | 已發表Published |
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 Publication | IEEE Transactions on Intelligent Vehicles |
ISSN | 2379-8858 |
Volume | 8Issue: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. |
Keyword | Load Transportation Path Following Quadrotor Robust Control |
DOI | 10.1109/TIV.2023.3274671 |
URL | View the original |
Indexed By | SCIE |
Language | 英語English |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Scopus ID | 2-s2.0-85159830750 |
Fulltext Access | |
Citation statistics | |
Document Type | Journal article |
Collection | DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING |
Affiliation | 1.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. |
Files in This Item: | There are no files associated with this item. |
Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.
Edit Comment