Cooperative Transportation of Drones without Inter-Agent Communication

Pin Xian Wu, Hsin Ai Hung, Cheng Cheng Yang, Teng Hu Cheng

研究成果: Conference contribution同行評審

1 引文 斯高帕斯(Scopus)

摘要

A control strategy for a leader-follower system without inter-agent communication is developed for cooperative transportation in this work. Two cascaded UKFs (unscented Kalman filters) are developed to estimate the external force of the leader as to eliminate the need of force sensors. Compared to most existing results, performance of the developed force estimators is invariant to lighting conditions since the developed UKFs do not require measurement from vision systems. To enhance robustness of the control scheme, a switching controller along with a triggering condition is developed for the follower, so that the impact to the performance of the closed-loop system caused by the disturbances can be minimized. Experiments are conducted to evaluate the control performance. Additionally, interesting phenomena are observed from the experiments and discussed, which can facilitate the improvement of the next generation cable-based transportation systems.

原文English
主出版物標題2020 American Control Conference, ACC 2020
發行者Institute of Electrical and Electronics Engineers Inc.
頁面677-682
頁數6
ISBN(電子)9781538682661
DOIs
出版狀態Published - 七月 2020
事件2020 American Control Conference, ACC 2020 - Denver, United States
持續時間: 1 七月 20203 七月 2020

出版系列

名字Proceedings of the American Control Conference
2020-July
ISSN(列印)0743-1619

Conference

Conference2020 American Control Conference, ACC 2020
國家United States
城市Denver
期間1/07/203/07/20

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