Artículo

Multi-objective control for cooperative payload transport with rotorcraft UAVs

Gimenez Romero, Javier AlejandroIcon ; Gandolfo, DanielIcon ; Salinas, Lucio RafaelIcon ; Rosales, Claudio DarioIcon ; Carelli Albarracin, Ricardo OscarIcon
Fecha de publicación: 09/2018
Editorial: Elsevier Science Inc
Revista: ISA Transactions
ISSN: 0019-0578
Idioma: Inglés
Tipo de recurso: Artículo publicado
Clasificación temática:

Resumen

A novel kinematic formation controller based on null-space theory is proposed to transport a cable-suspended payload with two rotorcraft UAVs considering collision avoidance, wind perturbations, and properly distribution of the load weight. An accurate 6-DoF nonlinear dynamic model of a helicopter and models for flexible cables and payload are included to test the proposal in a realistic scenario. System stability is demonstrated using Lyapunov theory and several simulation results show the good performance of the approach.
Palabras clave: COOPERATIVE TRANSPORT , LYAPUNOV THEORY , MULTI-OBJECTIVE CONTROL , NULL-SPACE , ROTORCRAFT UAV
 
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info:eu-repo/semantics/openAccess Excepto donde se diga explícitamente, este item se publica bajo la siguiente descripción: Creative Commons Attribution-NonCommercial-ShareAlike 2.5 Unported (CC BY-NC-SA 2.5)
Identificadores
URI: http://hdl.handle.net/11336/89229
URL: https://www.sciencedirect.com/science/article/pii/S0019057818302192
DOI: https://doi.org/10.1016/j.isatra.2018.05.022
Colecciones
Articulos(INAUT)
Articulos de INSTITUTO DE AUTOMATICA
Citación
Gimenez Romero, Javier Alejandro; Gandolfo, Daniel; Salinas, Lucio Rafael; Rosales, Claudio Dario; Carelli Albarracin, Ricardo Oscar; Multi-objective control for cooperative payload transport with rotorcraft UAVs; Elsevier Science Inc; ISA Transactions; 80; 9-2018; 491-502
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