Passivity-based Formation Control for UAVs with a Suspended Load
نویسندگان
چکیده
منابع مشابه
Passivity-based adaptive backstepping control of quadrotor-type UAVs
We propose a novel unified passivity-based adaptive backstepping control framework for ‘‘mixed’’ quadrotor-type unmanned aerial vehicles (UAVs), which consists of the translation dynamics with thrust force input λ ∈ R and the attitude kinematics with the angular velocity input w ∈ R3 evolving on SE(3). We also show how our proposed unified framework can be used for velocity field following, tim...
متن کاملLearning Swing-free Trajectories for UAVs with a Suspended Load in Obstacle-free Environments
Attaining autonomous flight is an important task in aerial robotics. Often flight trajectories are not only subject to unknown system dynamics, but also to specific task constraints. We are interested in producing a trajectory for an aerial robot with a suspended load that delivers the load to a destination in a swing-free fashion. This paper presents a motion planning framework for generating ...
متن کاملPassivity-based control of VToL UAVs with a momentum-based estimator of external wrench and unmodeled dynamics
A passivity-based control of Vertical Take-off and Landing (VToL) Unmanned Aerial Vehicles (UAVs) is presented in this paper. An estimator of unmodeled dynamics and external wrench (forces plus moments) acting on the aerial vehicle and based on the momentum of the system is employed to compensate such disturbances effects. This arrangement allows VToL UAVs to perform hovering, tracking and aeri...
متن کاملOptimal and Hierarchical Formation Control for UAVs
In this paper, optimal and hierarchical control concepts are investigated for cooperative formation flying of aircrafts. The airplanes are modeled as point mass and represented by double integrators. And all the planes are considered to be in a plane. For demonstration of the concepts, a task of forming a square from arbitrary initial conditions is presented to four airplanes. The final positio...
متن کاملEffectiveness of Adaptive Passivity-based Trajectory Tracking Control Of a Cable-suspended Robot
The level adjustment of cable-driven parallel mechanism is challenging due to the difficulty in obtaining an accurate mathematical model and the fact that different sources of uncertainties exist in the adjustment process. This paper presents application of an adaptive passivity-based control scheme for a cable suspended robot to handle disturbance and uncertainties in mass and moments of inert...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2017
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2017.08.2169