@inproceedings{5a37cd7abcf245cfbbe8c34a59d96269,
title = "Cable-Suspended Cooperative Transportation Control with Multi-unmanned Helicopters",
abstract = "This paper deals with the robust control of cable-suspended payload transportation by cooperative multi-unmanned helicopters (MUHs). By combining the finite-time nonlinear disturbance observer with the dynamic surface control (DSC) based backstepping, a decentralized control algorithm for the cooperative unmanned helicopters (UHs) is proposed. The dynamic models of the cooperative cable-suspended transportation system with four UHs are established. Taking the unmeasured cable force which has a significant impact on the system dynamics and stability as the disturbance, the finite-time nonlinear disturbance observer (FNDO) is used to estimate. With the feedforward compensation of FNDO, a control law of distributed robust trajectory depended on DSC is proposed for cooperative UHs. Finally, the closed-loop stability is analyzed, and the availability of the proposed algorithm under the predefined trajectory of payload is verified by numerical simulation.",
keywords = "Cooperative transportation, Dynamic surface control, Multi-unmanned helicopters (MUHs), Observer, Trajectory control",
author = "Zikang Su and Wenzhe Zhou and Xiao Liang and Honglun Wang",
note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; International Conference on Autonomous Unmanned Systems, ICAUS 2021 ; Conference date: 24-09-2021 Through 26-09-2021",
year = "2022",
doi = "10.1007/978-981-16-9492-9\_44",
language = "英语",
isbn = "9789811694912",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "437--447",
editor = "Meiping Wu and Yifeng Niu and Mancang Gu and Jin Cheng",
booktitle = "Proceedings of 2021 International Conference on Autonomous Unmanned Systems, ICAUS 2021",
address = "德国",
}