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Improved Control of DLO Transportation by a Team of Quadrotors

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Book cover Biomedical Applications Based on Natural and Artificial Computing (IWINAC 2017)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 10338))

Abstract

Quasi-stationary sections of a deformable linear object (DLO) hanging freely from two extreme points can be modeled either by catenaries or parabolic curves, depending on the conditions of the UAVs. DLO transportation is an instance of a leader-follower platoon team strategy, in which the local quadrotor control must cope with the dynamic perturbations due to the DLO linking the quadrotors. The quadrotor team control has two phases, one achieving a spatial configuration with equal energy consumption, the other is to manage the horizontal motion which is the transportation process per se. We propose a Model Reference Adaptive Control (MRAC) for the quadrotors team, which uses fuzzy modeling of the error in order to modulate the activation of the adaptation rules applied to proportional-derivative (PD) controller parameters, which are derived as error gradient descent rules. In this paper, we contribute the parabolic representation of the DLO and improved follow the leader control, testing the MRAC stability and robustness under a series of experiments.

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Authors and Affiliations

  1. Computational Intelligence Group, University of the Basque Country, UPV/EHU, San Sebastian, Spain

    Julian Estevez & Manuel Graña

Authors
  1. Julian Estevez
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  2. Manuel Graña
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Corresponding author

Correspondence to Manuel Graña .

Editor information

Editors and Affiliations

  1. Departamento de Electrónica, Tecnología de Computadoras y Proyectos, Universidad Politécnica de Cartagena, Cartagena, Spain

    José Manuel Ferrández Vicente

  2. Departamento de Inteligencia Articial, Universidad Nacional de Educación a Distancia, Madrid, Spain

    José Ramón Álvarez-Sánchez

  3. Departamento de Inteligencia Articial, Universidad Nacional de Educación a Distancia, Madrid, Spain

    Félix de la Paz López

  4. Departamento de Electrónica, Tecnología de Computadoras y Proyectos, Universidad Politécnica de Cartagena, Cartagena, Spain

    Javier Toledo Moreo

  5. The Ohio State University, Columbus, Ohio, USA

    Hojjat Adeli

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Estevez, J., Graña, M. (2017). Improved Control of DLO Transportation by a Team of Quadrotors. In: Ferrández Vicente, J., Álvarez-Sánchez, J., de la Paz López, F., Toledo Moreo, J., Adeli, H. (eds) Biomedical Applications Based on Natural and Artificial Computing. IWINAC 2017. Lecture Notes in Computer Science(), vol 10338. Springer, Cham. https://doi.org/10.1007/978-3-319-59773-7_13

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  • DOI: https://doi.org/10.1007/978-3-319-59773-7_13

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-59772-0

  • Online ISBN: 978-3-319-59773-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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