Full-Pose Manipulation Control of a Cable-Suspended Load With Multiple UAVs Under Uncertainties
Dario Sanalitro, Heitor Judiss Savino, Marco Tognon, Juan Cortés, Antonio Franchi
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.
BibTeX
@inproceedings{ral2020_fullposemanipula,
title = {Full-Pose Manipulation Control of a Cable-Suspended Load With Multiple UAVs Under Uncertainties},
author = {Dario Sanalitro and Heitor Judiss Savino and Marco Tognon and Juan Cortés and Antonio Franchi},
booktitle = {RA-L 2020},
year = {2020}
}