Distributed Control for Cooperative Transportation in Presence of Unknown Disturbance

摘要

A new system for cooperative transportation is proposed in this paper. A brand new system by using quadrotors connected via a net is designed, which is named quadrotors-net transportation system (QNTS). The dynamics model of each quadrotor is simplified to a second-order system, and the flexible net is considered to be a serial mass-spring models. All the quadrotors are treated as followers of a virtual second-order individual leader. A general method of the virtual leader's path (or called transportation path) is given. The oscillation of net and payload on quadrotors is regard as an unknown disturbance. To solve this unknown disturbance, the classic distributed controller is improved for the quadrotors. Finally, a simulation example of a transportation task by using QNTS is given to verify the proposed control scheme.