Robust Adaptive Synchronization of Interconnected Heterogeneous Quadrotors Transporting a Cable-Suspended Load
G. A. Cardona M. Arevalo-Castiblanco D. Tellez-Castro J. Calderon E. Mojica-Nava G. A. Cardona M. Arevalo-Castiblanco D. Tellez-Castro J. Calderon E. Mojica-Nava
We tackle the problem of multiple quadrotors transporting a cable-suspended point-mass load. The quadrotors are treated as a virtual leader-follower algorithm, where a multi-layer graph encapsulates the communication and physical interaction. On the one hand, the communication stands for the approach of following the reference trajectory of a virtual leader. On the other hand, the load exerts a di...