Suspended Load Motion Control using Multicopters
Journal article
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http://hdl.handle.net/11250/2393922Utgivelsesdato
2014Metadata
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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.