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arXiv · 1403.3684

Geometric Control of Multiple Quadrotor UAVs Transporting a Cable-Suspended Rigid Body

Taeyoung Lee
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Abstract

This paper investigates tracking controls for an arbitrary number of cooperating quadrotor unmanned aerial vehicles with a suspended rigid body payload. Assuming that a rigid body is connected to multiple quadrotors by rigid massless links, control systems for quadrotors are constructed such that the rigid body asymptotically follows a given desired position and attitude trajectory. These are developed in a coordinate-free fashion to avoid singularities and complexities associated with local parameterizations.

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Taeyoung Lee. 2014-03-14. Geometric Control of Multiple Quadrotor UAVs Transporting a Cable-Suspended Rigid Body. https://arxiv.org/abs/1403.3684

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