Abstract
In this paper, an output tracking controller is proposed for cooperative transport of a gripped load by a team of quadrotors. The proposed control law requires measurement of only four state variables; position and yaw angle of the system. Moreover, the controller provides rejection of step and ramp external force disturbances. Also, the control basis vectors derived via optimization facilitate real time determination of quadrotors' control inputs. Numerical simulations show effectiveness of the proposed control scheme and its superiority over formerly designed controllers for such systems.
| Original language | English |
|---|---|
| Pages (from-to) | 2760-2769 |
| Number of pages | 10 |
| Journal | Scientia Iranica |
| Volume | 26 |
| Issue number | 5 |
| DOIs | |
| Publication status | Published - 1 Sept 2019 |
| Externally published | Yes |
Keywords
- Output control tracking
- cooperative transport
- gripped load
- quadrotors
- disturbance rejection
Fingerprint
Dive into the research topics of 'Cooperative control of a gripped load by a team of quadrotors'. Together they form a unique fingerprint.Cite this
- APA
- Author
- BIBTEX
- Harvard
- Standard
- RIS
- Vancouver