Decentralized Model Predictive Control for Equilibrium-based Collaborative UAV Bar Transportation
Roberto C. Sundin,Pedro Roque,Dimos V. Dimarogonas,Roberto C. Sundin,Pedro Roque,Dimos V. Dimarogonas
In this paper we analyze the equilibrium points of a collaborative transportation task, composed of two unmanned aerial vehicles and a payload - in this case, a bar. Moreover, centralized and decentralized linear model predictive controllers are designed, where the nonlinear dynamics are linearized around the equilibrium points previously analyzed. A comparison between the centralized and decentra...
