Control Synthesis for Multi-UAV Slung-Load Systems with Uncertainties
Hae-In Lee, Hyo‐Sang Shin, Antonios Tsourdos · 2018
This paper develops a new control synthesis for the slung-load transportation system by multiple unmanned aerial vehicles. Effects of the unmatched uncertainties that cannot be directly controlled by the adaptive control are suppressed using the parameter-robust linear quadratic Gaussian method. The stability condition of the tracking and parameter estimation error is proven with Lyapunov analysis. The numerical simulations support the enhancement of robustness and system performance in the presence of both the unmatched and matched uncertainties in the slung-load system.