2015/11/06 by Farhad A. Goodarzi, Goodarzi, Farhad A., Taeyoung Lee +1
Computer Science · Engineering · #Control and Dynamics of Mobile Robots #Distributed Control Multi-Agent Systems #Dynamics and Control of Mechanical Systems #FOS: Mathematics #Optimization and Control (math.OC)
paper · pdf · doi:10.48550/arxiv.1511.02180
openalex publication_date 2015/11/06 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper presents the full dynamics and control of arbitrary number of\nquadrotor unmanned aerial vehicles (UAV) transporting a rigid body. The rigid\nbody is connected to the quadrotors via flexible cables where each flexible\ncable is modeled as a system of arbitrary number of serially connected links.\nIt is shown that a coordinate-free form of equations of motion can be derived\nfor the complete model without any simplicity assumptions that commonly appear\nin other literature, according to Lagrangian mechanics on a manifold. A\ngeometric nonlinear controller is presented to transport the rigid body to a\nfixed desired position while aligning all of the links along the vertical\ndirection. A rigorous mathematical stability proof is given and the desirable\nfeatures of the proposed controller are illustrated by numerical examples and\nexperimental results.\n