LAUSR.org creates dashboard-style pages of related content for over 1.5 million academic articles.
Sign Up to like articles & get recommendations!
Full-Pose Manipulation Control of a Cable-Suspended Load With Multiple UAVs Under Uncertainties
Photo from wikipedia
In this work we propose an uncertainty-aware controller for the Fly-crane system, a statically rigid cable-suspended aerial manipulator using the minimum number of aerial robots and cables. The force closure… Click to show full abstract
In this work we propose an uncertainty-aware controller for the Fly-crane system, a statically rigid cable-suspended aerial manipulator using the minimum number of aerial robots and cables. The force closure property of the Fly-crane makes it ideal for applications where high precision is required and external disturbances should be compensated. The proposed control requires the knowledge of the nominal values of a minimum number of uncertain kinematic parameters, thus simplifying the identification process and the controller implementation. We propose an optimization-based tuning method of the control gains that ensures stability despite parameter uncertainty and maximizes the $H_\infty$ performance. The validity of the proposed framework is shown through real experiments.
