ICUAS 2019 Paper Abstract

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Paper ThA2.3

Pizetta, Igor (Federal University of Espirito Santo), Brandao, Alexandre Santos (Federal University of Vicosa), Sarcinelli-Filho, Mário (Federal University of Espirito Santo)

Cooperative Load Transportation Using Three Quadrotors

Scheduled for presentation during the Regular Session "UAS Applications III" (ThA2), Thursday, June 13, 2019, 10:40−11:00, Heritage C

2020 International Conference on Unmanned Aircraft Systems (ICUAS), June 11-14, 2019, Athens, Greece

This information is tentative and subject to change. Compiled on March 29, 2024

Keywords UAS Applications, Micro- and Mini- UAS

Abstract

Unmanned aerial vehicles (UAV) provide a wide range of applications, amongst which is load transportation. However, they have low payload capabilities, in general. Then, whenever a heavier load should be transported it is necessary to use a team of UAVs to accomplish the task. In this work, a team of three UAVs in a formation are used to carry a cargo heavier than the capacity of a single vehicle. A nonlinear control strategy based on feedback linearization is used to guide each aircraft in positioning and trajectory tracking tasks while keeping the formation stable, compensating the disturbances caused by the load and the cross effect of cable tensions.

 

 

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