Cooperative transport of quad-rotor by consensus algorithm

Kento Kotani, Toru Namerikawa

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2019 12th Asian Control Conference, ASCC 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1364-1369
ページ数6
ISBN(電子版)9784888983006
出版ステータスPublished - 2019 6
イベント12th Asian Control Conference, ASCC 2019 - Kitakyushu-shi, Japan
継続期間: 2019 6 92019 6 12

出版物シリーズ

名前2019 12th Asian Control Conference, ASCC 2019

Conference

Conference12th Asian Control Conference, ASCC 2019
国/地域Japan
CityKitakyushu-shi
Period19/6/919/6/12

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • 制御と最適化
  • 機械工学

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