TY - GEN
T1 - Cooperative transport of quad-rotor by consensus algorithm
AU - Kotani, Kento
AU - Namerikawa, Toru
PY - 2019/6
Y1 - 2019/6
N2 - At present, UAV is common to use as a single unit, but by operating as multi-agent system, it is possible to possibly be able to carry out more sophisticated tasks. For example, it may be possible to realize long-distance transportation with heavy object which impossible by a single drone. Therefore, we propose a control method to achieve cooperative transport so that the payload follows the virtual leader. We assume the transporting problem connected payload and multiple quad-rotors with cable. In this research, we treated quad-rotor as a model regarded as a linear secondary system and used consensus algorithm to achieve the purpose. Finally we verified its usefulness by simulation.
AB - At present, UAV is common to use as a single unit, but by operating as multi-agent system, it is possible to possibly be able to carry out more sophisticated tasks. For example, it may be possible to realize long-distance transportation with heavy object which impossible by a single drone. Therefore, we propose a control method to achieve cooperative transport so that the payload follows the virtual leader. We assume the transporting problem connected payload and multiple quad-rotors with cable. In this research, we treated quad-rotor as a model regarded as a linear secondary system and used consensus algorithm to achieve the purpose. Finally we verified its usefulness by simulation.
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M3 - Conference contribution
AN - SCOPUS:85069923047
T3 - 2019 12th Asian Control Conference, ASCC 2019
SP - 1364
EP - 1369
BT - 2019 12th Asian Control Conference, ASCC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 12th Asian Control Conference, ASCC 2019
Y2 - 9 June 2019 through 12 June 2019
ER -