Geometric Control of Multiple Quadrotor UAVs Transporting a Cable-Suspended Rigid Body
Optimization and Control
2014-03-21 v2
Abstract
This paper investigates tracking controls for an arbitrary number of cooperating quadrotor unmanned aerial vehicles with a suspended rigid body payload. Assuming that a rigid body is connected to multiple quadrotors by rigid massless links, control systems for quadrotors are constructed such that the rigid body asymptotically follows a given desired position and attitude trajectory. These are developed in a coordinate-free fashion to avoid singularities and complexities associated with local parameterizations.
Keywords
Cite
@article{arxiv.1403.3684,
title = {Geometric Control of Multiple Quadrotor UAVs Transporting a Cable-Suspended Rigid Body},
author = {Taeyoung Lee},
journal= {arXiv preprint arXiv:1403.3684},
year = {2014}
}