Aerial Load Transportation with Multiple Quadrotors Based on a Kinematic Controller and a Neural SMC Dynamic Compensation
- Rossomando, Francisco Guido
- Rosales, Claudio Dario
- Gimenez, Javier
- Salinas, Lucio Rafael
- Soria, Carlos
- Sarcinelli Filho, Mario
- Carelli Albarracin, Ricardo Oscar
DOIAbstract
A novel formation control to transport a cable-suspended payload with two quadrotors is presented. The control structure is based on a layered scheme combining a kinematic null-space based controller and a neural sliding mode controller. The null-space controller is designed to generate velocity references to the quadrotors in the formation, whereas the neural sliding mode controller receives such reference velocities and performs a dynamic compensation for possible parametric uncertainties as well as for the dynamic perturbations caused by the load attached to the quadrotors. The stability of the closed-loop control system thus implemented is also proven with basis on the theory of Lyapunov. Very detailed dynamic models for the quadrotors,...
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