Geometric control of two quadrotors carrying a rigid rod with elastic cables
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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.
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Cites work
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- scientific article; zbMATH DE number 1300852 (Why is no real title available?)
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Cited in
(6)- Modelling and control of a spatial dynamic cable
- Pose stabilization of a bar tethered to two aerial vehicles
- Pose and position trajectory tracking for aerial transportation of a rod-like object
- Control for cooperative transport of a bar-shaped payload with rotorcraft UAVs including a landing stage on mobile robots
- Geometric adaptive control for aerial transportation of a rigid body
- Aerial transportation control of suspended payloads with multiple agents
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