• norsk
    • English
  • English 
    • norsk
    • English
  • Login
View Item 
  •   Home
  • Øvrige samlinger
  • Publikasjoner fra CRIStin - NTNU
  • View Item
  •   Home
  • Øvrige samlinger
  • Publikasjoner fra CRIStin - NTNU
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Suspended Load Motion Control using Multicopters

Klausen, Kristian; Fossen, Thor I.; Johansen, Tor Arne
Conference object, Journal article, Peer reviewed
Thumbnail
View/Open
MED14_0239_FI.pdf (396.0Kb)
URI
http://hdl.handle.net/11250/2393922
Date
2014
Metadata
Show full item record
Collections
  • Institutt for teknisk kybernetikk [2866]
  • Publikasjoner fra CRIStin - NTNU [26736]
Original version
IEEE Mediterranean Conference on Control & Automation 2014   10.1109/MED.2014.6961567
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.
Publisher
IEEE
Journal
Mediterranean Conference on Control & Automation

Contact Us | Send Feedback

Privacy policy
DSpace software copyright © 2002-2019  DuraSpace

Service from  Unit
 

 

Browse

ArchiveCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsDocument TypesJournalsThis CollectionBy Issue DateAuthorsTitlesSubjectsDocument TypesJournals

My Account

Login

Statistics

View Usage Statistics

Contact Us | Send Feedback

Privacy policy
DSpace software copyright © 2002-2019  DuraSpace

Service from  Unit