Suspended Load Motion Control using Multicopters
Conference object, Journal article, Peer reviewed

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Date
2014Metadata
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Original version
IEEE Mediterranean Conference on Control & Automation 2014 10.1109/MED.2014.6961567Abstract
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.