The Inverse Kinematics of Cooperative Transport With Multiple Aerial Robots

Robust global exponential stabilization on the n-dimensional sphere with applications to trajectory tracking for quadrotors

“…Moreover, if a dynamical system cannot be globally asymptotically stabilized through continuous feedback, it cannot be robustly stabilized by discontinuous feedback either, as shown in Mayhew and Teel [2011]. Overcoming these limitations is particularly important for multi-rotor aerial vehicles due to their popularity and the wide range of applications in which they are used, such as surveillance, tracking, search and rescue, infrastructure inspection, agriculture and disaster mitigation (see e.g Fink et al [2011], Mellinger et al [2012], Jiang and Kumar [2013], Augugliaro et al [2013], Lupashin et al [2014], Floreano and Wood [2015] and Liang et al [2018]). In this paper, we present a hybrid controller that not only provides global exponential stability, but also confers a quantifiable robustness margin to perturbations.…”

Interactive Leader–Follower Consensus of Multiple Quadrotors Based on Composite Nonlinear Feedback Control

“…The usage of multiple quadrotors to transport large payloads is considered in [11], [12] and [13]. The flexible payload transportation using the cooperation of multiple quadrotors is investigated [6], where the control with prediction is proposed to reduce the deformation of the payload.…”

An Overview of the Development for Cable-Driven Parallel Manipulator

“…According to the literature, cable robots maintain some desirable characteristics, including potential large workspace, being easy to reconfigure and implement, high speed motion, and high payload to weight ratio. Due to these features, some applications are available such as in astronomical observation [1,2], structure building device [3], rescue [4,5], service or rehabilitation [6,7], and multiple aerial robots [8,9]. However, the cable robot also has some peculiar drawbacks.…”