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UID:0-275@aerospace.technion.ac.il

DTSTART;TZID=Asia/Jerusalem:20210224T163000

DTEND;TZID=Asia/Jerusalem:20210224T173000

DTSTAMP:20230525T070354Z

URL:https://aerospace.technion.ac.il/events/estimation-and-control-for-coo
 perative-slung-load-transportation-by-a-team-of-multirotors/

SUMMARY:Estimation and Control for Cooperative Slung Load Transportation by
  a Team of Multirotors
DESCRIPTION:Lecturer:David Marcovici\n Faculty:Department of Aerospace Engi
 neering\n Institute:Technion – Israel Institute of Technology\n Location
 :https://technion.zoom.us/j/95034990472\n Zoom: \n Abstract: \n Details: \
 n Multirotor UAVs are becoming widespread for both civil and military uses
 \, such as photography\, surveillance and payload transportation. A slung 
 load system\, in which the payload is connected to several multirotors thr
 ough cables\, can be used as a modular payload transportation system\, all
 owing significantly heavier and larger payloads to be carried\, which cann
 ot be transported using a single multirotor. Control and coordination of s
 uch multirotor-payload systems is address in this study.\nThe current rese
 arch adopts a geometric control approach\, in which the nonlinear and coup
 led dynamics of the multirotors\, cables and payload can be explicitly inc
 orporated into control system design. Using three or more multirotors\, th
 is approach enables a full 6DOF (pose) tracking of the payload. An on-line
  optimization scheme is used to enable safe and efficient transport maneuv
 er\, in terms of collision avoidance between multirotors and efficient wei
 ght distribution.\nTo cope with high levels of parameter uncertainty\, whi
 ch is bound to exist in a system of this kind\, an on-line parameter ident
 ification scheme is used to identify the payload parameters\, namely its m
 ass\, moments of inertia\, and cable connection points. It is shown that s
 ystem parameter identification and thus the reduction in parameter uncerta
 inty contributes greatly to the robustness and tracking performance of the
  system.\nPayload transportation using four Pegasus 120 octorotors of Aero
 nautics Ltd. is examined in a full scale 3D simulation\, demonstrating tha
 t the suggested approach provides excellent payload pose tracking\, even w
 hen the system is exposed to significant disturbances\, measurement noise 
 and various uncertainties.\nZoom meeting
CATEGORIES:Seminars
LOCATION:https://technion.zoom.us/j/95034990472

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