Distributed control for cooperative transportation in presence of unknown disturbance

Xiaozhen Zhang; Fan Zhang; Panfeng Huang; Chen Wang; Yakun Zhao; Ya Liu

doi:10.1109/RCAR47638.2019.9044011

Distributed control for cooperative transportation in presence of unknown disturbance

Xiaozhen Zhang, Fan Zhang, Panfeng Huang, Chen Wang, Yakun Zhao, Ya Liu

School of Astronautics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

A new system for cooperative transportation is proposed in this paper. A brand new system by using quadrotors connected via a net is designed, which is named quadrotors-net transportation system (QNTS). The dynamics model of each quadrotor is simplified to a second-order system, and the flexible net is considered to be a serial mass-spring models. All the quadrotors are treated as followers of a virtual second-order individual leader. A general method of the virtual leader’s path (or called transportation path) is given. The oscillation of net and payload on quadrotors is regard as an unknown disturbance. To solve this unknown disturbance, the classic distributed controller is improved for the quadrotors. Finally, a simulation example of a transportation task by using QNTS is given to verify the proposed control scheme.

Original language	English
Title of host publication	2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	772-777
Number of pages	6
ISBN (Electronic)	9781728137261
DOIs	https://doi.org/10.1109/RCAR47638.2019.9044011
State	Published - Aug 2019
Event	2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019 - Irkutsk, Russian Federation Duration: 4 Aug 2019 → 9 Aug 2019

Publication series

Name	2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019
Volume	2019-August

Conference

Conference	2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019
Country/Territory	Russian Federation
City	Irkutsk
Period	4/08/19 → 9/08/19

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10.1109/RCAR47638.2019.9044011

Cite this

Zhang, X., Zhang, F., Huang, P., Wang, C., Zhao, Y., & Liu, Y. (2019). Distributed control for cooperative transportation in presence of unknown disturbance. In 2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019 (pp. 772-777). Article 9044011 (2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019; Vol. 2019-August). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RCAR47638.2019.9044011

Zhang, Xiaozhen ; Zhang, Fan ; Huang, Panfeng et al. / Distributed control for cooperative transportation in presence of unknown disturbance. 2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 772-777 (2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019).

@inproceedings{2156751641124242b6910535490601ee,

title = "Distributed control for cooperative transportation in presence of unknown disturbance",

abstract = "A new system for cooperative transportation is proposed in this paper. A brand new system by using quadrotors connected via a net is designed, which is named quadrotors-net transportation system (QNTS). The dynamics model of each quadrotor is simplified to a second-order system, and the flexible net is considered to be a serial mass-spring models. All the quadrotors are treated as followers of a virtual second-order individual leader. A general method of the virtual leader{\textquoteright}s path (or called transportation path) is given. The oscillation of net and payload on quadrotors is regard as an unknown disturbance. To solve this unknown disturbance, the classic distributed controller is improved for the quadrotors. Finally, a simulation example of a transportation task by using QNTS is given to verify the proposed control scheme.",

author = "Xiaozhen Zhang and Fan Zhang and Panfeng Huang and Chen Wang and Yakun Zhao and Ya Liu",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019 ; Conference date: 04-08-2019 Through 09-08-2019",

year = "2019",

month = aug,

doi = "10.1109/RCAR47638.2019.9044011",

language = "英语",

series = "2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "772--777",

booktitle = "2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019",

}

Zhang, X, Zhang, F , Huang, P, Wang, C, Zhao, Y & Liu, Y 2019, Distributed control for cooperative transportation in presence of unknown disturbance. in 2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019., 9044011, 2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019, vol. 2019-August, Institute of Electrical and Electronics Engineers Inc., pp. 772-777, 2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019, Irkutsk, Russian Federation, 4/08/19. https://doi.org/10.1109/RCAR47638.2019.9044011

Distributed control for cooperative transportation in presence of unknown disturbance. / Zhang, Xiaozhen; Zhang, Fan ; Huang, Panfeng et al.
2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 772-777 9044011 (2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019; Vol. 2019-August).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Zhang, Xiaozhen

AU - Zhang, Fan

AU - Huang, Panfeng

AU - Wang, Chen

AU - Zhao, Yakun

AU - Liu, Ya

PY - 2019/8

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N2 - A new system for cooperative transportation is proposed in this paper. A brand new system by using quadrotors connected via a net is designed, which is named quadrotors-net transportation system (QNTS). The dynamics model of each quadrotor is simplified to a second-order system, and the flexible net is considered to be a serial mass-spring models. All the quadrotors are treated as followers of a virtual second-order individual leader. A general method of the virtual leader’s path (or called transportation path) is given. The oscillation of net and payload on quadrotors is regard as an unknown disturbance. To solve this unknown disturbance, the classic distributed controller is improved for the quadrotors. Finally, a simulation example of a transportation task by using QNTS is given to verify the proposed control scheme.

AB - A new system for cooperative transportation is proposed in this paper. A brand new system by using quadrotors connected via a net is designed, which is named quadrotors-net transportation system (QNTS). The dynamics model of each quadrotor is simplified to a second-order system, and the flexible net is considered to be a serial mass-spring models. All the quadrotors are treated as followers of a virtual second-order individual leader. A general method of the virtual leader’s path (or called transportation path) is given. The oscillation of net and payload on quadrotors is regard as an unknown disturbance. To solve this unknown disturbance, the classic distributed controller is improved for the quadrotors. Finally, a simulation example of a transportation task by using QNTS is given to verify the proposed control scheme.

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Zhang X, Zhang F , Huang P, Wang C, Zhao Y, Liu Y. Distributed control for cooperative transportation in presence of unknown disturbance. In 2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 772-777. 9044011. (2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019). doi: 10.1109/RCAR47638.2019.9044011

Distributed control for cooperative transportation in presence of unknown disturbance

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