Distributed control for cooperative transportation in presence of unknown disturbance

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

科研成果: 书/报告/会议事项章节会议稿件同行评审

2 引用 (Scopus)

摘要

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.

源语言英语
主期刊名2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019
出版商Institute of Electrical and Electronics Engineers Inc.
772-777
页数6
ISBN(电子版)9781728137261
DOI
出版状态已出版 - 8月 2019
活动2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019 - Irkutsk, 俄罗斯联邦
期限: 4 8月 20199 8月 2019

出版系列

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

会议

会议2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019
国家/地区俄罗斯联邦
Irkutsk
时期4/08/199/08/19

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