Geometric control of two quadrotors carrying a rigid rod with elastic cables

DOI10.1007/S00332-022-09821-WzbMATH Open1497.93151arXiv2104.06155OpenAlexW4285473763MaRDI QIDQ2156352FDOQ2156352

Jacob Goodman, Leonardo Colombo

Publication date: 18 July 2022

Published in: Journal of Nonlinear Science (Search for Journal in Brave)

Abstract: This paper presents the design of a geometric trajectory tracking controller for the cooperative task of two quadrotor UAVs (unmanned aerial vehicles) carrying and transporting a rigid bar, which is attached to the quadrotors via inflexible elastic cables. The elasticity of the cables together with techniques of singular perturbation allows a reduction in the model to that of a similar model with inelastic cables. In this reduced model, we design a controller such that the rod exponentially tracks a given desired trajectory for its position and attitude, under some assumptions on initial error. We then show that exponential tracking in the reduced model corresponds to exponential tracking of the original elastic model. We also show that the previously defined control scheme provides uniform ultimate boundedness in the presence of unstructured bounded disturbances.

Full work available at URL: https://arxiv.org/abs/2104.06155

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zbMATH Keywords

nonlinear control systemsgeometric controlload transportation

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85) Geometric methods (93B27)

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Cited In (1)

• Aerial transportation control of suspended payloads with multiple agents

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