期刊
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
卷 28, 期 2, 页码 653-660出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2018.2876518
关键词
Force; Mathematical model; Unmanned aerial vehicles; Payloads; Wires; Acceleration; Load modeling; Cooperative control; passivity-based control; unmanned aerial vehicles (UAVs)
资金
- Research Council of Norway through its Centers of Excellence Funding Scheme [223254]
- National Science Foundation of the U.S. [ECCS-1405413]
- Div Of Electrical, Commun & Cyber Sys
- Directorate For Engineering [1405413] Funding Source: National Science Foundation
In this paper, we develop a cooperative control algorithm for a group of multirotor unmanned aerial vehicles (UAVs) transporting a suspended payload of unknown mass. In addition, the vehicles are subjected to unknown environmental disturbances in the form of wind. The control structure is analyzed using Lyapunov theory, and both numerical simulations and results from experimental field trials on an outdoor multirotor platform further validate the proposed control algorithm.
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