INVESTIGADORES
ROSALES Claudio Dario
artículos
Título:
Multi-objective control for cooperative payload transport with rotorcraft UAVs
Autor/es:
GIMENEZ, JAVIER; GANDOLFO, DANIEL C.; SALINAS, LUCIO R.; ROSALES, CLAUDIO; CARELLI, RICARDO
Revista:
ISA TRANSACTIONS.
Editorial:
ELSEVIER SCIENCE INC
Referencias:
Año: 2018
ISSN:
0019-0578
Resumen:
A novel kinematic formation controller based on null-space theory is proposed to transport a cable-suspended payload with two rotorcraft UAVs considering collision avoidance, wind perturbations, and properly distribution of the load weight. An accurate 6-DoF nonlinear dynamic model of a helicopter and models for flexible cables and payload are included to test the proposal in a realistic scenario. System stability is demonstrated using Lyapunov theory and several simulation results show the good performance of the approach.
