Lee, Hae-InYoo, Dong-WanLee, Byung-YoonMoon, Gun-HeeLee, Dong-YeonTahk, Min-JeaShin, Hyo-Sang2017-11-212017-11-212017-09-14Lee 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. 119-1271270-9638http://dx.doi.org/10.1016/j.ast.2017.09.014https://dspace.lib.cranfield.ac.uk/handle/1826/12727This 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.enAttribution-NonCommercial-NoDerivatives 4.0 InternationalUnmanned aerial vehicleSlung-load dynamicsLinear quadratic GaussianLoop transfer recoveryParameter-robust controlArticle