This paper presents the full dynamics and control of arbitrary number of quadrotor unmanned aerial vehicles (UAVs) transporting a rigid body. The rigid body is connected to the quadrotors via flexible cables where each flexible cable is modeled as a system of arbitrary number of serially connected links. It is shown that a coordinate-free form of equations of motion can be derived for the complete model without any simplicity assumptions that commonly appear in other literature, according to Lagrangian mechanics on a manifold. A geometric nonlinear controller is presented to transport the rigid body to a fixed desired position while aligning all of the links along the vertical direction. A rigorous mathematical stability proof is given and the desirable features of the proposed controller are illustrated by numerical examples and experimental results.
Stabilization of a Rigid Body Payload With Multiple Cooperative Quadrotors
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received November 6, 2015; final manuscript received June 7, 2016; published online August 10, 2016. Assoc. Editor: Yongchun Fang.
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Goodarzi, F. A., and Lee, T. (August 10, 2016). "Stabilization of a Rigid Body Payload With Multiple Cooperative Quadrotors." ASME. J. Dyn. Sys., Meas., Control. December 2016; 138(12): 121001. https://doi.org/10.1115/1.4033945
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