Modeling and Nonlinear Coordination Control of a Dual Drones Lifting System
Peng Zhang, Yongchun Fang, Xiao Liang, Lin He · 2019
In recent years, it has become increasingly popular to lift relief supplies by using drones. Restricted by the material technology and the power system, the lifting capacity of a single drone is not enough for some specific tasks. Therefore, the lifting capacity will be improved by utilizing the dual drones cooperative lifting system, and the attitude of the load can be fully considered. However, this cooperative lifting system has not received sufficient attention, and most results of relevant research have remained at the theoretical stage. This paper uses the Lagrange modeling method to establish an accurate model for the whole dual drones lifting system. On this basis, it uses Lyapunov techniques and LaSalle's invariance theorem to ensure the stability of the equilibrium point. Finally, the feasibility and the effectiveness of the proposed method are guaranteed by software simulation experiments.