期刊
2022 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2022)
卷 -, 期 -, 页码 4915-4921出版社
IEEE
DOI: 10.1109/ICRA46639.2022.9811726
关键词
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资金
- H2020 ERC Grant LEAFHOUND
- Swedish Foundation for Strategic Research (SSF)
- Swedish Research Council (VR)
- Knut och Alice Wallenberg Foundation (KAW)
This paper analyzes the equilibrium points of a collaborative transportation task with two unmanned aerial vehicles and a payload. Centralized and decentralized linear model predictive controllers are designed based on linearizing the nonlinear dynamics around the previously analyzed equilibrium points. A comparison between the centralized and decentralized formulations is provided, considering the time to solution and performance of each controller. The findings offer new operational equilibrium points for efficient operation with predictive model-based controllers.
In this paper we analyze the equilibrium points of a collaborative transportation task, composed of two unmanned aerial vehicles and a payload - in this case, a bar. Moreover, centralized and decentralized linear model predictive controllers are designed, where the nonlinear dynamics are linearized around the equilibrium points previously analyzed. A comparison between the centralized and decentralized formulations is provided, based on experimental results for both setups, and considering the time to solution and performance of each controller. Our findings provide new operational equilibrium points that can be paired with predictive model-based controllers for efficient operation.
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