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

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dc.contributor.authorLee, Hae-In
dc.contributor.authorYoo, Dong-Wan
dc.contributor.authorLee, Byung-Yoon
dc.contributor.authorMoon, Gun-Hee
dc.contributor.authorLee, Dong-Yeon
dc.contributor.authorTahk, Min-Jea
dc.contributor.authorShin, Hyo-Sang
dc.date.accessioned2017-11-21T17:54:33Z
dc.date.available2017-11-21T17:54:33Z
dc.date.issued2017-09-14
dc.description.abstractThis 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.en_UK
dc.identifier.citationLee 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. 119-127en_UK
dc.identifier.issn1270-9638
dc.identifier.urihttp://dx.doi.org/10.1016/j.ast.2017.09.014
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/12727
dc.language.isoenen_UK
dc.publisherElsevieren_UK
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subjectUnmanned aerial vehicleen_UK
dc.subjectSlung-load dynamicsen_UK
dc.subjectLinear quadratic Gaussianen_UK
dc.subjectLoop transfer recoveryen_UK
dc.subjectParameter-robust controlen_UK
dc.titleParameter-robust linear quadratic Gaussian technique for multi-agent slung load transportationen_UK
dc.typeArticleen_UK

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