Constrained Load Transportation by A Team of Quadrotors

Xu Jin; Zhongjun Hu

doi:10.1109/CDC51059.2022.9992662

Constrained Load Transportation by A Team of Quadrotors

Xu Jin, Zhongjun Hu

Mechanical and Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

Cable-suspended load transportation by multiple unmanned aerial vehicles (UAVs) has many applications. However, system nonlinearities and uncertainties as well as load dimensions are usually ignored by the literature, while the performance and safety constraints during the cooperative transportation operation are not discussed by existing works. In this work, we develop a new adaptive constrained formation control architecture for a team of UAVs that are collaboratively transporting a load, subject to multiple performance and safety constraint requirements. Universal barrier functions are used to address these time-varying constraints, and adaptive estimators are employed to deal with system uncertainties. In the end, a simulation study further demonstrates the effectiveness of the proposed framework.

Original language	English
Title of host publication	2022 IEEE 61st Conference on Decision and Control, CDC 2022
Pages	6580-6585
Number of pages	6
ISBN (Electronic)	9781665467612
DOIs	https://doi.org/10.1109/CDC51059.2022.9992662
State	Published - 2022
Event	61st IEEE Conference on Decision and Control, CDC 2022 - Cancun, Mexico Duration: Dec 6 2022 → Dec 9 2022

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Volume	2022-December
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	61st IEEE Conference on Decision and Control, CDC 2022
Country/Territory	Mexico
City	Cancun
Period	12/6/22 → 12/9/22

Bibliographical note

Publisher Copyright:
© 2022 IEEE.

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Access to Document

10.1109/CDC51059.2022.9992662

Cite this

@inproceedings{9f4468d99319493d8bdf2a3a252d738b,

title = "Constrained Load Transportation by A Team of Quadrotors",

abstract = "Cable-suspended load transportation by multiple unmanned aerial vehicles (UAVs) has many applications. However, system nonlinearities and uncertainties as well as load dimensions are usually ignored by the literature, while the performance and safety constraints during the cooperative transportation operation are not discussed by existing works. In this work, we develop a new adaptive constrained formation control architecture for a team of UAVs that are collaboratively transporting a load, subject to multiple performance and safety constraint requirements. Universal barrier functions are used to address these time-varying constraints, and adaptive estimators are employed to deal with system uncertainties. In the end, a simulation study further demonstrates the effectiveness of the proposed framework.",

author = "Xu Jin and Zhongjun Hu",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 61st IEEE Conference on Decision and Control, CDC 2022 ; Conference date: 06-12-2022 Through 09-12-2022",

year = "2022",

doi = "10.1109/CDC51059.2022.9992662",

language = "English",

series = "Proceedings of the IEEE Conference on Decision and Control",

pages = "6580--6585",

booktitle = "2022 IEEE 61st Conference on Decision and Control, CDC 2022",

}

TY - GEN

T1 - Constrained Load Transportation by A Team of Quadrotors

AU - Jin, Xu

AU - Hu, Zhongjun

PY - 2022

Y1 - 2022

N2 - Cable-suspended load transportation by multiple unmanned aerial vehicles (UAVs) has many applications. However, system nonlinearities and uncertainties as well as load dimensions are usually ignored by the literature, while the performance and safety constraints during the cooperative transportation operation are not discussed by existing works. In this work, we develop a new adaptive constrained formation control architecture for a team of UAVs that are collaboratively transporting a load, subject to multiple performance and safety constraint requirements. Universal barrier functions are used to address these time-varying constraints, and adaptive estimators are employed to deal with system uncertainties. In the end, a simulation study further demonstrates the effectiveness of the proposed framework.

AB - Cable-suspended load transportation by multiple unmanned aerial vehicles (UAVs) has many applications. However, system nonlinearities and uncertainties as well as load dimensions are usually ignored by the literature, while the performance and safety constraints during the cooperative transportation operation are not discussed by existing works. In this work, we develop a new adaptive constrained formation control architecture for a team of UAVs that are collaboratively transporting a load, subject to multiple performance and safety constraint requirements. Universal barrier functions are used to address these time-varying constraints, and adaptive estimators are employed to deal with system uncertainties. In the end, a simulation study further demonstrates the effectiveness of the proposed framework.

UR - http://www.scopus.com/inward/record.url?scp=85146975575&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85146975575&partnerID=8YFLogxK

U2 - 10.1109/CDC51059.2022.9992662

DO - 10.1109/CDC51059.2022.9992662

M3 - Conference contribution

AN - SCOPUS:85146975575

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 6580

EP - 6585

BT - 2022 IEEE 61st Conference on Decision and Control, CDC 2022

T2 - 61st IEEE Conference on Decision and Control, CDC 2022

Y2 - 6 December 2022 through 9 December 2022

ER -

Constrained Load Transportation by A Team of Quadrotors

Abstract

Publication series

Conference

Bibliographical note

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this