{"title":"A backward control approach for aerial load transportation using a multi-agent system","authors":"Ehsan Abbasi, Mohammad Danesh, Mostafa Ghayour","doi":"10.1016/j.ejcon.2024.100979","DOIUrl":null,"url":null,"abstract":"<div><p>Design and verification of a distributed backward control approach which solves task assignment problem of an under-actuated nonlinear multi-agent system is investigated in this paper. This under-actuated nonlinear multi-agent system includes several quadrotors work together to transport a load aerially. All quadrotors are connected to the load by cables. In this paper, these cables are modelled as several series of masses, springs and dampers to consider their masses and curvatures. There is no real control on the load and cable masses. Therefore, a backward control approach is presented which is based on some virtual controls considered for the load and masses of the cables. By using this control approach, path tracking of the load is performed by controlling formation of the quadrotors during transportation. Solving consensus, formation control and task assignment problems in the case study in less than respectively one, six and five seconds, is the result of using the proposed approach. An Integral BackStepping-Sliding Mode controller is used for formation tracking of a multi-quadrotor system in the presence of external disturbances. Two theorems are presented to guarantee the stability and convergence of the proposed control systems. In addition, simulation example is used to illustrate the effectiveness of the presented control approach.</p></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":null,"pages":null},"PeriodicalIF":2.5000,"publicationDate":"2024-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"European Journal of Control","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0947358024000396","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
Design and verification of a distributed backward control approach which solves task assignment problem of an under-actuated nonlinear multi-agent system is investigated in this paper. This under-actuated nonlinear multi-agent system includes several quadrotors work together to transport a load aerially. All quadrotors are connected to the load by cables. In this paper, these cables are modelled as several series of masses, springs and dampers to consider their masses and curvatures. There is no real control on the load and cable masses. Therefore, a backward control approach is presented which is based on some virtual controls considered for the load and masses of the cables. By using this control approach, path tracking of the load is performed by controlling formation of the quadrotors during transportation. Solving consensus, formation control and task assignment problems in the case study in less than respectively one, six and five seconds, is the result of using the proposed approach. An Integral BackStepping-Sliding Mode controller is used for formation tracking of a multi-quadrotor system in the presence of external disturbances. Two theorems are presented to guarantee the stability and convergence of the proposed control systems. In addition, simulation example is used to illustrate the effectiveness of the presented control approach.
期刊介绍:
The European Control Association (EUCA) has among its objectives to promote the development of the discipline. Apart from the European Control Conferences, the European Journal of Control is the Association''s main channel for the dissemination of important contributions in the field.
The aim of the Journal is to publish high quality papers on the theory and practice of control and systems engineering.
The scope of the Journal will be wide and cover all aspects of the discipline including methodologies, techniques and applications.
Research in control and systems engineering is necessary to develop new concepts and tools which enhance our understanding and improve our ability to design and implement high performance control systems. Submitted papers should stress the practical motivations and relevance of their results.
The design and implementation of a successful control system requires the use of a range of techniques:
Modelling
Robustness Analysis
Identification
Optimization
Control Law Design
Numerical analysis
Fault Detection, and so on.