Parameter-robust linear quadratic Gaussian technique for multi-agent slung load transportation

Date published

2017-09-14

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Publisher

Elsevier

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Article

ISSN

1270-9638

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Citation

Lee H-I, Yoo D-W, Lee B-Y, et al., (2017) Parameter-robust linear quadratic Gaussian technique for multi-agent slung load transportation. Aerospace Science and Technology, Volume 71, December 2017, pp. 119-127

Abstract

This paper copes with parameter-robust controller design for transportation system by multiple unmanned aerial vehicles. The transportation is designed in the form of string connection. Minimal state-space realization of slung-load dynamics is obtained by Newtonian approach with spherical coordinates. Linear quadratic Gaussian / loop transfer recovery (LQG/LTR) is implemented to control the position and attitude of all the vehicles and payloads. The controller's robustness against variation of payload mass is improved using parameter-robust linear quadratic Gaussian (PRLQG) method. Numerical simulations are conducted with several transportation cases. The result verifies that LQG/LTR shows fast performance while PRLQG has its strong point in robustness against system variation.

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Software Description

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Github

Keywords

Unmanned aerial vehicle, Slung-load dynamics, Linear quadratic Gaussian, Loop transfer recovery, Parameter-robust control

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Attribution-NonCommercial-NoDerivatives 4.0 International

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