Suspended Load Motion Control using Multicopters
Conference object, Journal article, Peer reviewed
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Original versionIEEE Mediterranean Conference on Control & Automation 2014 10.1109/MED.2014.6961567
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.