Distributed Control for Multiple UAV Transport of Slung Loads

Chopra, O and Ghose, D (2022) Distributed Control for Multiple UAV Transport of Slung Loads. In: AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2022, 3-7 Jan 2022, San Diego.

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Abstract

We propose a distributed control strategy for slung load transportation using multiple UAVs, with the goal to keep the load on the desired trajectory while maintaining formation. The load is equipped with an IMU and an optical sensor, and use inputs from these sensors to enable the multi-UAV system to generate appropriate control commands in order to maintain the formation. The proposed strategy takes advantage of the coupling between translational dynamics of UAVs and rotational dynamics of slung load to control the formation along vertical direction. Feedback from the optical sensor ensures formation in the rest of the two directions. The proposed controller compares the load�s current state with reference trajectory to generate control inputs, which then acts equally on all UAVs in the formation. Simulation results are presented to support the efficacy of the proposed control law. Implementation in a ROS/Gazebo platform is also demonstrated. © 2022, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

Item Type:	Conference Paper
Publication:	AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2022
Publisher:	American Institute of Aeronautics and Astronautics Inc, AIAA
Additional Information:	The copyright for this article belongs to American Institute of Aeronautics and Astronautics Inc, AIAA
Keywords:	Control theory; Optical sensors, Control command; Desired trajectories; Distributed control strategy; Distributed-control; Multi UAV; Multiple UAVs; Rotational dynamics; Slung load; Translational dynamics; UAV systems, Unmanned aerial vehicles (UAV)
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	08 Feb 2022 10:23
Last Modified:	08 Feb 2022 10:23
URI:	http://eprints.iisc.ac.in/id/eprint/71171

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