Cooperative transport of quad-rotor by consensus algorithm

Kento Kotani, Toru Namerikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publication2019 12th Asian Control Conference, ASCC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1364-1369
Number of pages6
ISBN (Electronic)9784888983006
Publication statusPublished - 2019 Jun
Event12th Asian Control Conference, ASCC 2019 - Kitakyushu-shi, Japan
Duration: 2019 Jun 92019 Jun 12

Publication series

Name2019 12th Asian Control Conference, ASCC 2019

Conference

Conference12th Asian Control Conference, ASCC 2019
CountryJapan
CityKitakyushu-shi
Period19/6/919/6/12

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Optimization
  • Mechanical Engineering

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    Kotani, K., & Namerikawa, T. (2019). Cooperative transport of quad-rotor by consensus algorithm. In 2019 12th Asian Control Conference, ASCC 2019 (pp. 1364-1369). [8765107] (2019 12th Asian Control Conference, ASCC 2019). Institute of Electrical and Electronics Engineers Inc..