Title :
Suspended load motion control using multicopters
Author :
Klausen, Kristian ; Fossen, Thor I. ; Johansen, Tor Arne
Author_Institution :
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Abstract :
This paper presents a distributed kinematic control law for group coordination for several multicopters and a payload suspended with wires from each multicopter. The complete system with constraints on the wires are modeled in 6 degrees of freedom (DOF), using the Udwadia-Kalaba equation. Velocity controllers for the multicopters are developed to realize the desired motion set by the kinematic controller. This results in a system where the group of multicopters are able to maneuver the payload to a desired position while keeping a desired formation. The results are verified by simulations.
Keywords :
autonomous aerial vehicles; helicopters; motion control; multi-robot systems; velocity control; Udwadia-Kalaba equation; distributed kinematic control law; multicopters; multicopters group; payload; suspended load motion control; velocity controllers; Acceleration; Equations; Force; Kinematics; Load modeling; Mathematical model; Wires;
Conference_Titel :
Control and Automation (MED), 2014 22nd Mediterranean Conference of
Conference_Location :
Palermo
Print_ISBN :
978-1-4799-5900-6
DOI :
10.1109/MED.2014.6961567
