2019/11/28 by Prasanth Kotaru, Koushil Sreenath, Kotaru, Prasanth +1 · 1 citation
Computer Science · Engineering · Mathematics · #Adaptive Control of Nonlinear Systems #Distributed Control Multi-Agent Systems #FOS: Computer and information sciences #FOS: Mathematics #Nonlinear Dynamics and Pattern Formation #Optimization and Control (math.OC) #Robotics (cs.RO) #cs.RO #math.OC
paper · pdf · doi:10.48550/arxiv.1911.12650
openalex publication_date 2019/11/28 · arxiv created 2020/05/12 · arxiv updated 2020/05/14 · openalex created_date 2022/07/26 · openalex updated_date 2026/07/28
Using quadrotors UAVs for cooperative payload transportation using cables has been actively gaining interest in recent years. Understanding the dynamics of these complex multi-agent systems would help towards designing safe and reliable systems. In this work, we study one such multi-agent system comprising of multiple quadrotors transporting a flexible hose. We model the hose as a series of smaller discrete links and derive a generalized coordinate-free dynamics for the same. We show that certain configurations of this under-actuated system are differentially-flat. We linearize the dynamics using variation-based linearization and present a linear time-varying LQR to track desired trajectories. Finally, we present numerical simulations to validate the dynamics, flatness, and control.