Recovery Techniques for a Multi-UAV System Transporting a Payload | IEEE Conference Publication | IEEE Xplore

Recovery Techniques for a Multi-UAV System Transporting a Payload


Abstract:

This paper considers a system composed of multiple Unmanned Aerial Vehicles (UAVs), in this case quadrotors, carrying a payload by flexible cables. A set of dynamic equat...Show More

Abstract:

This paper considers a system composed of multiple Unmanned Aerial Vehicles (UAVs), in this case quadrotors, carrying a payload by flexible cables. A set of dynamic equations is proposed to describe the behavior of the system during flight. In a scenario describing one of the UAVs to have a failure and automatically detaching from the system, a distributed recovery strategy is proposed to restore stability to the remaining team, using a combination of Proportional, Integrative and Derivative control, Integrative Sliding Mode Control, and Consensus-Based control. A considered software architecture is provided, and software-in-the-loop tests are performed as a validation step for the proposed algorithms. Results are compared with the more classical Sliding Mode Control technique and subsequently integrated with a formation change strategy.
Date of Conference: 28 August 2024 - 01 September 2024
Date Added to IEEE Xplore: 23 October 2024
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Conference Location: Bari, Italy

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