Año: 2018
Autores: Gimenez, J.; Gandolfo, D.; Salinas, L.; Rosales, C.; Carelli, R.;
Resumen: A novel kinematic formation controller based on null-space theory is proposed to transport a cable-suspended payload with two rotorcraft UAVs considering collision avoidance, wind perturbations, and properly distribution of the load weight. An accurate 6-DoF nonlinear dynamic model of a helicopter and models for flexible cables and payload are included to test the proposal in a realistic scenario. System stability is demonstrated using Lyapunov theory and several simulation results show the good performance of the approach.
Link: https://www.sciencedirect.com/science/article/pii/S0019057818302192