Fault-tolerant formation control of a team of quadrotors with a suspended payload

Autor:	Lorenzo Saiella, Marco Ferro, Marilena Vendittelli, Andrea Cristofaro
Jazyk:	angličtina
Rok vydání:	2021
Předmět:	Fault-tolerant control Computer science Payload Control (management) Passivity Fault tolerance Control engineering Formation Control UAVs Network topology Backstepping Trajectory Suspended load
Popis:	This paper proposes a fault-tolerant architecture for formation control and cooperative trajectory tracking for a team of autonomous quadrotors carrying a suspended load. Formation control is provided by the combination of passivity-based techniques and backstepping, while a supervisory fault-tolerant control policy is responsible to reconfigure the network topology and the control objectives upon detection of faults among the vehicles.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::d7d6f328f59bdb10056b228b9aa1effd http://hdl.handle.net/11573/1574312 Zobrazit plný text záznamu