TY - GEN
T1 - Distributed control for cooperative transportation in presence of unknown disturbance
AU - Zhang, Xiaozhen
AU - Zhang, Fan
AU - Huang, Panfeng
AU - Wang, Chen
AU - Zhao, Yakun
AU - Liu, Ya
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2019/8
Y1 - 2019/8
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.
UR - http://www.scopus.com/inward/record.url?scp=85089159654&partnerID=8YFLogxK
U2 - 10.1109/RCAR47638.2019.9044011
DO - 10.1109/RCAR47638.2019.9044011
M3 - 会议稿件
AN - SCOPUS:85089159654
T3 - 2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019
SP - 772
EP - 777
BT - 2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019
Y2 - 4 August 2019 through 9 August 2019
ER -