Cooperative Control for Rod-Shaped Payload Transportation with Two Quadrotors

Yankai Wang, Ti Chen*

*此作品的通讯作者

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

This paper considers the cooperative transport problem of two quadrotors, which is an ideal method for rod-shaped payload transportation in complex and hazardous environments. A Lagrangian system with nine degrees of freedom is built to describe the cooperative transportation system, where the cables are supposed to be massless and kept taut all the time. A nonlinear controller is proposed based on the nonlinear model predictive control (NMPC) to eliminate payload swing, where the payload angle information is considered as optional parameters. A cost function is formulated to transform the quadrotors’ positioning and payload swing elimination problems into an optimization problem. Finally, numerical simulations are carried out to validate the proposed control method.

源语言英语
主期刊名Proceedings of the 2nd International Conference on Mechanical System Dynamics - ICMSD 2023
编辑Xiaoting Rui, Caishan Liu
出版商Springer Science and Business Media Deutschland GmbH
387-396
页数10
ISBN(印刷版)9789819980475
DOI
出版状态已出版 - 2024
已对外发布
活动2nd International Conference of Mechanical System Dynamics, ICMSD 2023 - Beijing, 中国
期限: 1 9月 20235 9月 2023

出版系列

姓名Lecture Notes in Mechanical Engineering
ISSN(印刷版)2195-4356
ISSN(电子版)2195-4364

会议

会议2nd International Conference of Mechanical System Dynamics, ICMSD 2023
国家/地区中国
Beijing
时期1/09/235/09/23

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