Full-pose Manipulation Control of a Cable-suspended load with Multiple UAVs under Uncertainties

TitleFull-pose Manipulation Control of a Cable-suspended load with Multiple UAVs under Uncertainties
Publication TypeJournal Article
Year of Publication2020
AuthorsSanalitro, D, Savino, HJ, Tognon, M, Cortés, J, Franchi, A
JournalIEEE Robotics and Automation Letters
Volume5
Issue2
Pagination2185-2191
Date Published04/2020
Abstract

In this work, we propose an uncertainty-aware controller for the Fly-Crane system, a statically rigid cable-suspended aerial manipulator using the minimum number of aerial robots and cables. The force closure property of the Fly- Crane makes it ideal for applications where high precision is required and external disturbances should be compensated. The proposed control requires the knowledge of the nominal values of a minimum number of uncertain kinematic parameters, thus simplifying the identification process and the controller implementation. We propose an optimization-based tuning method of the control gains that ensures stability despite parameter uncertainty and maximizes the H∞ performance. The validity of the proposed framework is shown through real experiments.

DOI10.1109/LRA.2020.2969930
Citation Key2020b-SanSavTogCorFra
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