Description

This thesis presents the design and simulation of an energy efficient controller for a system of three drones transporting a payload in a net. The object ensnared in the net is represented as a mass connected by massless stiff springs

This thesis presents the design and simulation of an energy efficient controller for a system of three drones transporting a payload in a net. The object ensnared in the net is represented as a mass connected by massless stiff springs to each drone. Both a pole-placement approach and an optimal control approach are used to design a trajectory controller for the system. Results are simulated for a single drone and the three drone system both without and with payload.

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    Details

    Title
    • Energy efficient optimal formation control of a multiple quadrotor UAV system with uncertain payload
    Date Created
    2022-05
    Resource Type
  • Text
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