Two PVTOLs cooperative slung‐load transport control based on passivity. Issue 1 (1st December 2019)

• Record Type: Journal Article
• Authors: Cariño Escobar, Jossué; Lozano, Rogelio; Bonilla Estrada, Moisés
• Is Part Of: Advanced control for applications. Volume 2:Issue 1(2020)
• Page Start: n/a
• Page End: n/a
• Publication Date: 2019-12-01
• Subjects: cooperative -- nonlinear control -- passivity -- PBC -- PVTOL -- slung‐load transport; Automatic control -- Periodicals; Automatic control; Periodicals; Electronic journals; 629.8
• DOI: 10.1002/adc2.22
• Languages: English
• ISSNs: 2578-0727

Abstract

Abstract: This work addresses the problem of two unmanned aerial vehicles (UAVs) transporting a slung‐load on a plane. The vehicles presented are a simplified version of the classical planar vertical take‐off and landing (PVTOL). The proposed solution implements a decentralized control scheme based on the concept of passivity where there is no explicit communication between agents. This is accomplished by taking advantage of the physical connection between the agents and the load. In contrast with similar control algorithms based on force control, like impedance filters, the objective is to drive the system into a state of minimal energy. In addition to this, the presented control strategy differs from other passivity based methods, like an interconnection and damping assignment passivity‐based control, in that the method can also be used to accommodate more complex control strategies that do not necessarily depend on the energy of the system. Abstract : This work addresses the problem of two unmanned aerial vehicles (UAVs) transporting a slung‐load on a plane. The proposed solution implements a decentralized cooperative control scheme based on the concept of passivity where there is no explicit communication between agents. This is accomplished by taking advantage of the physical connection between the agents and the load.