| dc.contributor.author | Klausen, Kristian | |
| dc.contributor.author | Fossen, Thor I. | |
| dc.contributor.author | Johansen, Tor Arne | |
| dc.date.accessioned | 2014-12-15T02:50:53Z | |
| dc.date.accessioned | 2016-06-23T12:52:40Z | |
| dc.date.available | 2014-12-15T02:50:53Z | |
| dc.date.available | 2016-06-23T12:52:40Z | |
| dc.date.issued | 2014 | |
| dc.identifier.citation | IEEE Mediterranean Conference on Control & Automation 2014 | nb_NO |
| dc.identifier.issn | 1934-1776 | |
| dc.identifier.uri | http://hdl.handle.net/11250/2393922 | |
| dc.description.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. | nb_NO |
| dc.language.iso | eng | nb_NO |
| dc.publisher | IEEE | nb_NO |
| dc.title | Suspended Load Motion Control using Multicopters | nb_NO |
| dc.type | Journal article | nb_NO |
| dc.date.updated | 2014-12-15T02:50:53Z | |
| dc.description.version | submittedVersion | |
| dc.source.journal | Mediterranean Conference on Control & Automation | nb_NO |
| dc.identifier.doi | 10.1109/MED.2014.6961567 | |
| dc.identifier.cristin | 1132173 | |
| dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
| dc.description.localcode | This document is the unedited Author's version of a Submitted Work that was subsequently accepted for publication in Control & Automation (MED), 2014 22th Mediterranean Conference on , © IEEE, after peer review. To access the final edited and published work see http://dx.doi.org/10.1109/MED.2014.6961567 © IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | nb_NO |
