TY - GEN
T1 - Coordinated Transportation of Tethered Multi-rotor UAVs Under Wind Disturbance
AU - Liu, Ya
AU - Lai, Yanling
AU - Zhang, Fan
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.
PY - 2025
Y1 - 2025
N2 - This study explores the collaborative transportation of tethered multi-rotor unmanned aerial vehicles system, particularly in the presence of mixed wind disturbances. The drag force and drag torque models for UAVs have been established. To enhance the effectiveness and reduce the likelihood of collisions between UAVs, the cooperative and competitive dynamics in the T-MRUAVs should be taken into consideration. Therefore, this research proposes a formation control strategy for outer-loop position control based on differential graphical games. A PID control method based on an extended state observer is proposed for inner-loop attitude control. Finally, simulation results validate the algorithm’s effectiveness.
AB - This study explores the collaborative transportation of tethered multi-rotor unmanned aerial vehicles system, particularly in the presence of mixed wind disturbances. The drag force and drag torque models for UAVs have been established. To enhance the effectiveness and reduce the likelihood of collisions between UAVs, the cooperative and competitive dynamics in the T-MRUAVs should be taken into consideration. Therefore, this research proposes a formation control strategy for outer-loop position control based on differential graphical games. A PID control method based on an extended state observer is proposed for inner-loop attitude control. Finally, simulation results validate the algorithm’s effectiveness.
KW - differential graphical games
KW - extended state observer
KW - mixed wind disturbances
KW - Tethered multi-rotor UAVs
UR - https://www.scopus.com/pages/publications/105000963684
U2 - 10.1007/978-981-96-2216-0_29
DO - 10.1007/978-981-96-2216-0_29
M3 - 会议稿件
AN - SCOPUS:105000963684
SN - 9789819622153
T3 - Lecture Notes in Electrical Engineering
SP - 300
EP - 310
BT - Advances in Guidance, Navigation and Control - Proceedings of 2024 International Conference on Guidance, Navigation and Control Volume 5
A2 - Yan, Liang
A2 - Duan, Haibin
A2 - Deng, Yimin
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Guidance, Navigation and Control, ICGNC 2024
Y2 - 9 August 2024 through 11 August 2024
ER -