@inproceedings{1c7a88118d5948a68a4bf14cb8b657a8,
title = "Cooperative Control for Rod-Shaped Payload Transportation with Two Quadrotors",
abstract = "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{\textquoteright} positioning and payload swing elimination problems into an optimization problem. Finally, numerical simulations are carried out to validate the proposed control method.",
keywords = "Cooperative transportation, Predictive control, Quadrotor",
author = "Yankai Wang and Ti Chen",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.; 2nd International Conference of Mechanical System Dynamics, ICMSD 2023 ; Conference date: 01-09-2023 Through 05-09-2023",
year = "2024",
doi = "10.1007/978-981-99-8048-2_24",
language = "English",
isbn = "9789819980475",
series = "Lecture Notes in Mechanical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "387--396",
editor = "Xiaoting Rui and Caishan Liu",
booktitle = "Proceedings of the 2nd International Conference on Mechanical System Dynamics - ICMSD 2023",
address = "Germany",
}