Full-pose Manipulation Control of a Cable-suspended load with Multiple UAVs under Uncertainties - LAAS - Laboratoire d'Analyse et d'Architecture des Systèmes Access content directly
Journal Articles IEEE Robotics and Automation Letters Year : 2020

Full-pose Manipulation Control of a Cable-suspended load with Multiple UAVs under Uncertainties

Abstract

In this work we propose an uncertainty-aware controller for the Fly-Crane system, a statically rigid cable-suspended aerial manipulator using the minimum number of aerial robots and cables. The force closure property of the Fly-Crane makes it ideal for applications where high precision is required and external disturbances should be compensated. The proposed control requires the knowledge of the nominal values of a minimum number of uncertain kinematic parameters, thus simplifying the identification process and the controller implementation. We propose an optimization-based tuning method of the control gains that ensures stability despite parameter uncertainty and maximizes the H∞ performance. The validity of the proposed framework is shown through real experiments.
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Dates and versions

hal-02460422 , version 1 (30-01-2020)

Identifiers

Cite

Dario Sanalitro, Heitor J Savino, Marco Tognon, Juan Cortés, Antonio Franchi. Full-pose Manipulation Control of a Cable-suspended load with Multiple UAVs under Uncertainties. IEEE Robotics and Automation Letters, 2020, 5 (2), pp.2185 - 2191. ⟨10.1109/LRA.2020.2969930⟩. ⟨hal-02460422⟩
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