Passivity-based Formation Control for UAVs with a Suspended Load
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Original versionIFAC-PapersOnLine. 2017, 50 (1), 13150-13155. 10.1016/j.ifacol.2017.08.2169
This paper presents a passivity based formation control strategy for multiple unmanned aerial vehicles (UAVs) cooperatively carrying a suspended load. The control strategy we propose consists of an internal feedback control law for each UAV and a formation control law that regulates the relative position between each UAV. We show that under this control strategy the interconnected system has a continuum of equilibria and prove stability for all equilibrium points where the cables supporting the suspended load are in tension.