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Title
Japanese:マルチロータUAVによるサスペンド式貨物運搬制御 
English:Transport Control of Multi-rotor UAVs with a Suspended Payload 
Author
Japanese: 伊吹竜也, 櫻井元貴, 遠藤眞覇人, 三平満司.  
English: Tatsuya Ibuki, Motoki Sakurai, Mahato Endou, MITSUJI SAMPEI.  
Language Japanese 
Journal/Book name
Japanese:第6回計測自動制御学会制御部門マルチシンポジウム論文集(USB) 
English: 
Volume, Number, Page         3F2-4
Published date Mar. 7, 2019 
Publisher
Japanese:計測自動制御学会 
English: 
Conference name
Japanese:第6回計測自動制御学会制御部門マルチシンポジウム 
English: 
Conference site
Japanese:熊本 
English: 
Abstract This paper proposes transport control systems of multi-rotor unmanned aerial vehicles(UAVs) with a suspended payload. The objective of this work is exact tracking of the payload position and attitude to desired trajectories, and thus the present methods are based on exact linearization techniques. Transport control problems by a single UAV are first investigated, and it is shown that undesired UAV behavior appears in this case. Then, by taking the degree of freedom of the target system into account, a cooperative transport control system with multiple UAVs is proposed. Numerical simulations including obstacle avoidance application are conducted to show the effectiveness of the present approach.

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