IF-Based Trajectory Planning and Cooperative Control for Transportation System of Cable Suspended Payload With Multi UAVs
Yu Zhang,Jie Xu,Cheng Zhao,Jiuxiang Dong,Yu Zhang,Jie Xu,Cheng Zhao,Jiuxiang Dong
In this paper, we tackle the control and trajectory planning problems for the cooperative transportation system of cable-suspended payload with multi Unmanned Aerial Vehicles (UAVs). Firstly, a payload controller is presented considering the dynamic coupling between the UAV and the payload to accomplish the active suppression of payload swing and the complex payload trajectory tracking. Secondly, ...
